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move uorb::publisherbase into constructor of publisher

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This commit is contained in:
Thomas Gubler 2015-01-23 08:03:26 +01:00
parent 59f05a7195
commit 16c85c6d18
3 changed files with 7 additions and 11 deletions
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7
src/platforms/px4_nodehandle.h
View File

@ -243,13 +243,8 @@ public:
template<typename T>
Publisher<T> *advertise()
{
//XXX
// uORB::PublicationBase * uorb_pub = new uORB::PublicationBase((new T())->handle());
uORB::PublicationBase * uorb_pub = new uORB::PublicationBase(T::handle());
PublisherUORB<T> *pub = new PublisherUORB<T>(uorb_pub);
PublisherUORB<T> *pub = new PublisherUORB<T>();
_pubs.add(pub);
return (Publisher<T>*)pub;
}

4
src/platforms/px4_publisher.h
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@ -130,10 +130,10 @@ public:
/**
* Construct Publisher by providing orb meta data
*/
PublisherUORB(uORB::PublicationBase * uorb_pub) :
PublisherUORB() :
Publisher<T>(),
PublisherNode(),
_uorb_pub(uorb_pub)
_uorb_pub(new uORB::PublicationBase(T::handle()))
{}
~PublisherUORB() {};

7
src/platforms/px4_subscriber.h
View File

@ -107,21 +107,22 @@ public:
SubscriberROS(ros::NodeHandle *rnh) :
px4::Subscriber<T>(),
_cbf(NULL),
_ros_sub(rnh->subscribe(T::handle(), 1, &SubscriberROS<T>::callback, this))
_ros_sub(rnh->subscribe(T::handle(), kQueueSizeDefault, &SubscriberROS<T>::callback, this))
{}
/**
* Construct Subscriber by providing a callback function
*/
//XXX queue default
SubscriberROS(ros::NodeHandle *rnh, std::function<void(const T &)> cbf) :
_cbf(cbf),
_ros_sub(rnh->subscribe(T::handle(), 1, &SubscriberROS<T>::callback, this))
_ros_sub(rnh->subscribe(T::handle(), kQueueSizeDefault, &SubscriberROS<T>::callback, this))
{}
virtual ~SubscriberROS() {};
protected:
static const uint32_t kQueueSizeDefault = 1; /**< Size of queue for ROS */
/**
* Called on topic update, saves the current message and then calls the provided callback function
* needs to use the native type as it is called by ROS