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make handle() static

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Thomas Gubler
2015-01-21 16:33:19 +01:00
parent 52a2a23cc7
commit 1511fd7b2d
4 changed files with 7 additions and 10 deletions
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src/platforms/nuttx/px4_messages/px4_rc_channels.h
+1 -1
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@@ -20,7 +20,7 @@ public:
~px4_rc_channels() {}
PX4TopicHandle handle() {return (PX4TopicHandle)ORB_ID(rc_channels);}
static PX4TopicHandle handle() {return ORB_ID(rc_channels);}
};
}
src/platforms/px4_message.h
+1 -2
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@@ -42,7 +42,7 @@
typedef const char* PX4TopicHandle;
#else
#include <uORB/uORB.h>
typedef const struct orb_metatdata* PX4TopicHandle;
typedef orb_id_t PX4TopicHandle;
#endif
namespace px4
@@ -70,7 +70,6 @@ public:
virtual M& data() {return _data;}
virtual const M& data() const {return _data;}
virtual PX4TopicHandle handle() = 0;
private:
M _data;
};
src/platforms/px4_nodehandle.h
+4 -6
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@@ -93,7 +93,7 @@ public:
Subscriber<T> *subscribe(void(*fp)(const T &))
{
SubscriberBase *sub = new SubscriberROS<T>(std::bind(fp, std::placeholders::_1));
ros::Subscriber ros_sub = ros::NodeHandle::subscribe((new T())->handle(), kQueueSizeDefault,
ros::Subscriber ros_sub = ros::NodeHandle::subscribe(T::handle(), kQueueSizeDefault,
&SubscriberROS<T>::callback, (SubscriberROS<T> *)sub);
((SubscriberROS<T> *)sub)->set_ros_sub(ros_sub);
_subs.push_back(sub);
@@ -147,7 +147,7 @@ public:
Publisher* advertise()
// Publisher<T> *advertise()
{
ros::Publisher ros_pub = ros::NodeHandle::advertise<typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &>((new T())->handle(), kQueueSizeDefault);
ros::Publisher ros_pub = ros::NodeHandle::advertise<typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &>(T::handle(), kQueueSizeDefault);
Publisher *pub = new Publisher(ros_pub);
_pubs.push_back(pub);
return pub;
@@ -245,8 +245,7 @@ public:
// Subscriber<T> *subscribe(void(*fp)(const typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &), unsigned interval=10) //XXX interval
Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval=10) //XXX interval
{
const struct orb_metadata * meta = NULL;
uORB::SubscriptionBase * uorb_sub = new uORB::SubscriptionBase(meta, interval);
uORB::SubscriptionBase * uorb_sub = new uORB::SubscriptionBase(T::handle(), interval);
// SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(uorb_sub, interval, callback);
SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(uorb_sub, interval, std::bind(fp, std::placeholders::_1));
@@ -300,8 +299,7 @@ public:
{
//XXX
// uORB::PublicationBase * uorb_pub = new uORB::PublicationBase((new T())->handle());
const struct orb_metadata * meta = NULL;
uORB::PublicationBase * uorb_pub = new uORB::PublicationBase(meta);
uORB::PublicationBase * uorb_pub = new uORB::PublicationBase(T::handle());
Publisher *pub = new Publisher(uorb_pub);
_pubs.add(pub);
src/platforms/ros/px4_messages/px4_rc_channels.h
+1 -1
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@@ -19,7 +19,7 @@ public:
~px4_rc_channels() {}
PX4TopicHandle handle() {return "rc_channels";}
static PX4TopicHandle handle() {return "rc_channels";}
};
}