From a761c4189ec77a682ddcaab368fead8f2ea9d17c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 12 May 2017 14:32:49 +0200
Subject: [PATCH] MavlinkMissionManager: remove MavlinkStream inheritance

---
 src/modules/mavlink/mavlink_mission.cpp | 21 +++----------
 src/modules/mavlink/mavlink_mission.h   | 39 ++++++++-----------------
 2 files changed, 16 insertions(+), 44 deletions(-)

diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 97f639a94c..408f46cb15 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -66,7 +66,7 @@ bool MavlinkMissionManager::_transfer_in_progress = false;
 		 (_msg.target_component == MAV_COMP_ID_MISSIONPLANNER) || \
 		 (_msg.target_component == MAV_COMP_ID_ALL)))
 
-MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(mavlink),
+MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
 	_state(MAVLINK_WPM_STATE_IDLE),
 	_time_last_recv(0),
 	_time_last_sent(0),
@@ -86,8 +86,9 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(m
 	_offboard_mission_sub(-1),
 	_mission_result_sub(-1),
 	_offboard_mission_pub(nullptr),
-	_slow_rate_limiter(_interval / 5.0f),
-	_verbose(false)
+	_slow_rate_limiter(100 * 1000), // Rate limit sending of the current WP sequence to 10 Hz
+	_verbose(false),
+	_mavlink(mavlink)
 {
 	_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
 	_mission_result_sub = orb_subscribe(ORB_ID(mission_result));
@@ -101,20 +102,6 @@ MavlinkMissionManager::~MavlinkMissionManager()
 	orb_unadvertise(_offboard_mission_pub);
 }
 
-unsigned
-MavlinkMissionManager::get_size()
-{
-	if (_state == MAVLINK_WPM_STATE_SENDLIST) {
-		return MAVLINK_MSG_ID_MISSION_ITEM_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-
-	} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
-		return MAVLINK_MSG_ID_MISSION_REQUEST + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-
-	} else {
-		return 0;
-	}
-}
-
 void
 MavlinkMissionManager::init_offboard_mission()
 {
diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h
index ad9c9ebc6e..b8d96936dd 100644
--- a/src/modules/mavlink/mavlink_mission.h
+++ b/src/modules/mavlink/mavlink_mission.h
@@ -46,7 +46,6 @@
 
 #include "mavlink_bridge_header.h"
 #include "mavlink_rate_limiter.h"
-#include "mavlink_stream.h"
 
 enum MAVLINK_WPM_STATES {
 	MAVLINK_WPM_STATE_IDLE = 0,
@@ -67,32 +66,20 @@ enum MAVLINK_WPM_CODES {
 #define MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT 5000000    ///< Protocol communication action timeout in useconds
 #define MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT 500000        ///< Protocol communication retry timeout in useconds
 
-class MavlinkMissionManager : public MavlinkStream
+class Mavlink;
+
+class MavlinkMissionManager
 {
 public:
+	explicit MavlinkMissionManager(Mavlink *mavlink);
+
 	~MavlinkMissionManager();
 
-	const char *get_name() const
-	{
-		return MavlinkMissionManager::get_name_static();
-	}
-
-	static const char *get_name_static()
-	{
-		return "MISSION_ITEM";
-	}
-
-	uint16_t get_id()
-	{
-		return MAVLINK_MSG_ID_MISSION_ITEM;
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkMissionManager(mavlink);
-	}
-
-	unsigned get_size();
+	/**
+	 * Handle sending of messages. Call this regularly at a fixed frequency.
+	 * @param t current time
+	 */
+	void send(const hrt_abstime t);
 
 	void handle_message(const mavlink_message_t *msg);
 
@@ -140,6 +127,8 @@ private:
 
 	bool _verbose;
 
+	Mavlink *_mavlink;
+
 	static constexpr unsigned int	FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT =
 		2;	///< Error count limit before stopping to report FS errors
 
@@ -219,8 +208,4 @@ private:
 	int format_mavlink_mission_item(const struct mission_item_s *mission_item,
 					mavlink_mission_item_t *mavlink_mission_item);
 
-protected:
-	explicit MavlinkMissionManager(Mavlink *mavlink);
-
-	void send(const hrt_abstime t);
 };