From 1511fd7b2dd19e0ae4c63553cbaf00e2a753148f Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Wed, 21 Jan 2015 16:33:19 +0100
Subject: [PATCH] make handle() static

---
 src/platforms/nuttx/px4_messages/px4_rc_channels.h |  2 +-
 src/platforms/px4_message.h                        |  3 +--
 src/platforms/px4_nodehandle.h                     | 10 ++++------
 src/platforms/ros/px4_messages/px4_rc_channels.h   |  2 +-
 4 files changed, 7 insertions(+), 10 deletions(-)

diff --git a/src/platforms/nuttx/px4_messages/px4_rc_channels.h b/src/platforms/nuttx/px4_messages/px4_rc_channels.h
index cb1135eb98..2ce7bfc80a 100644
--- a/src/platforms/nuttx/px4_messages/px4_rc_channels.h
+++ b/src/platforms/nuttx/px4_messages/px4_rc_channels.h
@@ -20,7 +20,7 @@ public:
 
 	~px4_rc_channels() {}
 
-	PX4TopicHandle handle() {return (PX4TopicHandle)ORB_ID(rc_channels);}
+	static PX4TopicHandle handle() {return ORB_ID(rc_channels);}
 };
 
 }
diff --git a/src/platforms/px4_message.h b/src/platforms/px4_message.h
index c908f6fc69..bff7aa3133 100644
--- a/src/platforms/px4_message.h
+++ b/src/platforms/px4_message.h
@@ -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;
 };
diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h
index 2406a4a775..5ae4f9325c 100644
--- a/src/platforms/px4_nodehandle.h
+++ b/src/platforms/px4_nodehandle.h
@@ -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);
diff --git a/src/platforms/ros/px4_messages/px4_rc_channels.h b/src/platforms/ros/px4_messages/px4_rc_channels.h
index a5a5ee2020..5e9dc72cda 100644
--- a/src/platforms/ros/px4_messages/px4_rc_channels.h
+++ b/src/platforms/ros/px4_messages/px4_rc_channels.h
@@ -19,7 +19,7 @@ public:
 
 	~px4_rc_channels() {}
 
-	PX4TopicHandle handle() {return "rc_channels";}
+	static PX4TopicHandle handle() {return "rc_channels";}
 };
 
 }