moving storage_information stream to separate file

src/modules/mavlink/mavlink_messages.cpp

@@ -45,6 +45,8 @@
 #include "mavlink_simple_analyzer.h"
 #include "mavlink_high_latency2.h"
 
+#include "streams/storage_information.h"
+
 #include <commander/px4_custom_mode.h>
 #include <drivers/drv_pwm_output.h>
 #include <lib/conversion/rotation.h>
@@ -5172,103 +5174,6 @@ protected:
 	}
 };
 
-#ifdef __PX4_DARWIN
-#include <sys/param.h>
-#include <sys/mount.h>
-#else
-#include <sys/statfs.h>
-#endif
-
-class MavlinkStreamStorageInformation : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamStorageInformation::get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return "STORAGE_INFORMATION";
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_STORAGE_INFORMATION;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamStorageInformation(mavlink);
-	}
-
-	unsigned get_size() override
-	{
-		return MAVLINK_MSG_ID_STORAGE_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-	}
-
-	bool request_message(float param1 = 0.0, float param2 = 0.0, float param3 = 0.0, float param4 = 0.0,
-			     float param5 = 0.0, float param6 = 0.0, float param7 = 0.0) override
-	{
-		storage_id = (int)roundf(param2);
-		return send(hrt_absolute_time());
-	}
-private:
-	int storage_id = 0;
-
-	/* do not allow top copying this class */
-	MavlinkStreamStorageInformation(MavlinkStreamStorageInformation &) = delete;
-	MavlinkStreamStorageInformation &operator = (const MavlinkStreamStorageInformation &) = delete;
-
-
-protected:
-	explicit MavlinkStreamStorageInformation(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
-
-	bool send(const hrt_abstime t) override
-	{
-		mavlink_storage_information_t storage_info{};
-		const char *microsd_dir = PX4_STORAGEDIR;
-
-		if (storage_id == 0 || storage_id == 1) { // request is for all or the first storage
-			storage_info.storage_id = 1;
-
-			struct statfs statfs_buf;
-			uint64_t total_bytes = 0;
-			uint64_t avail_bytes = 0;
-
-			if (statfs(microsd_dir, &statfs_buf) == 0) {
-				total_bytes = (uint64_t)statfs_buf.f_blocks * statfs_buf.f_bsize;
-				avail_bytes = (uint64_t)statfs_buf.f_bavail * statfs_buf.f_bsize;
-			}
-
-			if (total_bytes == 0) { // on NuttX we get 0 total bytes if no SD card is inserted
-				storage_info.storage_count = 0;
-				storage_info.status = 0; // not available
-
-			} else {
-				storage_info.storage_count = 1;
-				storage_info.status = 2; // available & formatted
-				storage_info.total_capacity = total_bytes / 1024. / 1024.;
-				storage_info.available_capacity = avail_bytes / 1024. / 1024.;
-				storage_info.used_capacity = (total_bytes - avail_bytes) / 1024. / 1024.;
-			}
-
-		} else {
-			return false; // results in MAV_RESULT_DENIED
-		}
-
-		storage_info.time_boot_ms = t / 1000;
-		mavlink_msg_storage_information_send_struct(_mavlink->get_channel(), &storage_info);
-		return true;
-	}
-};
-
 static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamHeartbeat>(),
 	create_stream_list_item<MavlinkStreamStatustext>(),

src/modules/mavlink/streams/storage_information.h

@@ -0,0 +1,103 @@
+#ifndef MAVLINK_STREAM_STORAGE_INFORMATION_H
+#define MAVLINK_STREAM_STORAGE_INFORMATION_H
+
+#include "../mavlink_messages.h"
+
+#ifdef __PX4_DARWIN
+#include <sys/param.h>
+#include <sys/mount.h>
+#else
+#include <sys/statfs.h>
+#endif
+
+class MavlinkStreamStorageInformation : public MavlinkStream
+{
+public:
+	const char *get_name() const override
+	{
+		return MavlinkStreamStorageInformation::get_name_static();
+	}
+
+	static constexpr const char *get_name_static()
+	{
+		return "STORAGE_INFORMATION";
+	}
+
+	static constexpr uint16_t get_id_static()
+	{
+		return MAVLINK_MSG_ID_STORAGE_INFORMATION;
+	}
+
+	uint16_t get_id() override
+	{
+		return get_id_static();
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamStorageInformation(mavlink);
+	}
+
+	unsigned get_size() override
+	{
+		return MAVLINK_MSG_ID_STORAGE_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
+
+	bool request_message(float param1, float param2, float param3, float param4,
+			     float param5, float param6, float param7) override
+	{
+		storage_id = (int)roundf(param2);
+		return send(hrt_absolute_time());
+	}
+private:
+	int storage_id = 0;
+
+	/* do not allow top copying this class */
+	MavlinkStreamStorageInformation(MavlinkStreamStorageInformation &) = delete;
+	MavlinkStreamStorageInformation &operator = (const MavlinkStreamStorageInformation &) = delete;
+
+
+protected:
+	explicit MavlinkStreamStorageInformation(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
+	bool send(const hrt_abstime t) override
+	{
+		mavlink_storage_information_t storage_info{};
+		const char *microsd_dir = PX4_STORAGEDIR;
+
+		if (storage_id == 0 || storage_id == 1) { // request is for all or the first storage
+			storage_info.storage_id = 1;
+
+			struct statfs statfs_buf;
+			uint64_t total_bytes = 0;
+			uint64_t avail_bytes = 0;
+
+			if (statfs(microsd_dir, &statfs_buf) == 0) {
+				total_bytes = (uint64_t)statfs_buf.f_blocks * statfs_buf.f_bsize;
+				avail_bytes = (uint64_t)statfs_buf.f_bavail * statfs_buf.f_bsize;
+			}
+
+			if (total_bytes == 0) { // on NuttX we get 0 total bytes if no SD card is inserted
+				storage_info.storage_count = 0;
+				storage_info.status = 0; // not available
+
+			} else {
+				storage_info.storage_count = 1;
+				storage_info.status = 2; // available & formatted
+				storage_info.total_capacity = total_bytes / 1024. / 1024.;
+				storage_info.available_capacity = avail_bytes / 1024. / 1024.;
+				storage_info.used_capacity = (total_bytes - avail_bytes) / 1024. / 1024.;
+			}
+
+		} else {
+			return false; // results in MAV_RESULT_DENIED
+		}
+
+		storage_info.time_boot_ms = t / 1000;
+		mavlink_msg_storage_information_send_struct(_mavlink->get_channel(), &storage_info);
+		return true;
+	}
+};
+
+#endif