mavlink: move ADSB_VEHICLE to separate stream header

src/modules/mavlink/mavlink_messages.cpp

@@ -75,7 +75,6 @@
 #include <uORB/topics/sensor_mag.h>
 #include <uORB/topics/sensor_selection.h>
 #include <uORB/topics/telemetry_status.h>
-#include <uORB/topics/transponder_report.h>
 #include <uORB/topics/vehicle_air_data.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
 #include <uORB/topics/vehicle_attitude.h>
@@ -140,6 +139,7 @@ using matrix::wrap_2pi;
 #include "streams/WIND_COV.hpp"
 
 #if !defined(CONSTRAINED_FLASH)
+# include "streams/ADSB_VEHICLE.hpp"
 # include "streams/ATT_POS_MOCAP.hpp"
 # include "streams/DEBUG.hpp"
 # include "streams/DEBUG_FLOAT_ARRAY.hpp"
@@ -1709,102 +1709,6 @@ protected:
 	}
 };
 
-class MavlinkStreamADSBVehicle : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamADSBVehicle::get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return "ADSB_VEHICLE";
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_ADSB_VEHICLE;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamADSBVehicle(mavlink);
-	}
-
-	bool const_rate() override
-	{
-		return true;
-	}
-
-	unsigned get_size() override
-	{
-		return _pos_sub.advertised() ? MAVLINK_MSG_ID_ADSB_VEHICLE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
-	}
-
-private:
-	uORB::Subscription _pos_sub{ORB_ID(transponder_report)};
-
-	/* do not allow top copying this class */
-	MavlinkStreamADSBVehicle(MavlinkStreamADSBVehicle &) = delete;
-	MavlinkStreamADSBVehicle &operator = (const MavlinkStreamADSBVehicle &) = delete;
-
-protected:
-	explicit MavlinkStreamADSBVehicle(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
-
-	bool send() override
-	{
-		transponder_report_s pos;
-		bool sent = false;
-
-		while ((_mavlink->get_free_tx_buf() >= get_size()) && _pos_sub.update(&pos)) {
-
-			if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) {
-				continue;
-			}
-
-			mavlink_adsb_vehicle_t msg{};
-			msg.ICAO_address = pos.icao_address;
-			msg.lat = pos.lat * 1e7;
-			msg.lon = pos.lon * 1e7;
-			msg.altitude_type = pos.altitude_type;
-			msg.altitude = pos.altitude * 1e3f;
-			msg.heading = (pos.heading + M_PI_F) / M_PI_F * 180.0f * 100.0f;
-			msg.hor_velocity = pos.hor_velocity * 100.0f;
-			msg.ver_velocity = pos.ver_velocity * 100.0f;
-			memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign));
-			msg.emitter_type = pos.emitter_type;
-			msg.tslc = pos.tslc;
-			msg.squawk = pos.squawk;
-
-			msg.flags = 0;
-
-			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; }
-
-			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; }
-
-			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; }
-
-			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; }
-
-			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; }
-
-			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; }
-
-			mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg);
-			sent = true;
-		}
-
-		return sent;
-	}
-};
-
 class MavlinkStreamCameraTrigger : public MavlinkStream
 {
 public:
@@ -2118,7 +2022,9 @@ static const StreamListItem streams_list[] = {
 #if defined(ALTITUDE_HPP)
 	create_stream_list_item<MavlinkStreamAltitude>(),
 #endif // ALTITUDE_HPP
+#if defined(ADSB_VEHICLE_HPP)
 	create_stream_list_item<MavlinkStreamADSBVehicle>(),
+#endif // ADSB_VEHICLE_HPP
 #if defined(UTM_GLOBAL_POSITION_HPP)
 	create_stream_list_item<MavlinkStreamUTMGlobalPosition>(),
 #endif // UTM_GLOBAL_POSITION_HPP

src/modules/mavlink/streams/ADSB_VEHICLE.hpp

@@ -0,0 +1,110 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef ADSB_VEHICLE_HPP
+#define ADSB_VEHICLE_HPP
+
+#include <uORB/topics/transponder_report.h>
+
+class MavlinkStreamADSBVehicle : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamADSBVehicle(mavlink); }
+
+	static constexpr const char *get_name_static() { return "ADSB_VEHICLE"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ADSB_VEHICLE; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	bool const_rate() override { return true; }
+
+	unsigned get_size() override
+	{
+		return _transponder_report_sub.advertised() ? MAVLINK_MSG_ID_ADSB_VEHICLE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	explicit MavlinkStreamADSBVehicle(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _transponder_report_sub{ORB_ID(transponder_report)};
+
+	bool send() override
+	{
+		bool sent = false;
+
+		transponder_report_s pos;
+
+		while ((_mavlink->get_free_tx_buf() >= get_size()) && _transponder_report_sub.update(&pos)) {
+
+			if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) {
+				continue;
+			}
+
+			mavlink_adsb_vehicle_t msg{};
+			msg.ICAO_address = pos.icao_address;
+			msg.lat = pos.lat * 1e7;
+			msg.lon = pos.lon * 1e7;
+			msg.altitude_type = pos.altitude_type;
+			msg.altitude = pos.altitude * 1e3f;
+			msg.heading = (pos.heading + M_PI_F) / M_PI_F * 180.0f * 100.0f;
+			msg.hor_velocity = pos.hor_velocity * 100.0f;
+			msg.ver_velocity = pos.ver_velocity * 100.0f;
+			memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign));
+			msg.emitter_type = pos.emitter_type;
+			msg.tslc = pos.tslc;
+			msg.squawk = pos.squawk;
+
+			msg.flags = 0;
+
+			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; }
+
+			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; }
+
+			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; }
+
+			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; }
+
+			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; }
+
+			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; }
+
+			mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg);
+			sent = true;
+		}
+
+		return sent;
+	}
+};
+
+#endif // ADSB_VEHICLE_HPP