ROS: Fixes for ROS build

The ROS build included some files that used isfinite vs PX4_ISFINITE.

The AppState class also needed to be supported for ROS.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/platforms/px4_defines.h

@@ -66,6 +66,8 @@
 /* Get value of parameter by name, which is equal to the handle for ros */
 #define PX4_PARAM_GET_BYNAME(_name, _destpt) ros::param::get(_name, *_destpt)
 
+#define PX4_ISFINITE(x) std::isfinite(x)
+
 #elif defined(__PX4_NUTTX) || defined(__PX4_POSIX)
 /*
  * Building for NuttX or POSIX

src/platforms/px4_nodehandle.h

@@ -42,7 +42,6 @@
 #include "px4_subscriber.h"
 #include "px4_publisher.h"
 #include "px4_middleware.h"
-#include "px4_posix.h"
 #include "px4_app.h"
 
 #if defined(__PX4_ROS)
@@ -64,10 +63,11 @@ class NodeHandle :
 	private ros::NodeHandle
 {
 public:
-	NodeHandle() :
+	NodeHandle(AppState &a) :
 		ros::NodeHandle(),
 		_subs(),
-		_pubs()
+		_pubs(),
+		_appState(a)
 	{}
 
 	~NodeHandle()
@@ -138,6 +138,9 @@ public:
 protected:
 	std::list<SubscriberBase *> _subs;				/**< Subcriptions of node */
 	std::list<PublisherBase *> _pubs;				/**< Publications of node */
+
+	AppState	&_appState;
+
 };
 #else //Building for NuttX
 class __EXPORT NodeHandle

src/platforms/ros/geo.cpp

@@ -55,7 +55,7 @@
 __EXPORT float _wrap_pi(float bearing)
 {
 	/* value is inf or NaN */
-	if (!isfinite(bearing)) {
+	if (!PX4_ISFINITE(bearing)) {
 		return bearing;
 	}
 
@@ -85,7 +85,7 @@ __EXPORT float _wrap_pi(float bearing)
 __EXPORT float _wrap_2pi(float bearing)
 {
 	/* value is inf or NaN */
-	if (!isfinite(bearing)) {
+	if (!PX4_ISFINITE(bearing)) {
 		return bearing;
 	}
 
@@ -115,7 +115,7 @@ __EXPORT float _wrap_2pi(float bearing)
 __EXPORT float _wrap_180(float bearing)
 {
 	/* value is inf or NaN */
-	if (!isfinite(bearing)) {
+	if (!PX4_ISFINITE(bearing)) {
 		return bearing;
 	}
 
@@ -145,7 +145,7 @@ __EXPORT float _wrap_180(float bearing)
 __EXPORT float _wrap_360(float bearing)
 {
 	/* value is inf or NaN */
-	if (!isfinite(bearing)) {
+	if (!PX4_ISFINITE(bearing)) {
 		return bearing;
 	}