WIP, make class based and extended subscriber/publisher example compile for ros

src/examples/publisher/publisher_example.cpp

@@ -41,6 +41,8 @@
 
 #include "publisher_example.h"
 
+using namespace px4;
+
 PublisherExample::PublisherExample() :
 	_n(),
 	_rc_channels_pub(PX4_ADVERTISE(_n, rc_channels))

src/examples/publisher/publisher_example.h

@@ -38,6 +38,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 #include <px4.h>
+
 class PublisherExample {
 public:
 	PublisherExample();

src/examples/publisher/publisher_main.cpp

@@ -51,6 +51,7 @@ using namespace px4;
 
 PX4_MAIN_FUNCTION(publisher);
 
+#if !defined(__linux) && !(defined(__APPLE__) && defined(__MACH__))
 extern "C" __EXPORT int publisher_main(int argc, char *argv[])
 {
 	px4::init(argc, argv, "publisher");
@@ -98,15 +99,16 @@ extern "C" __EXPORT int publisher_main(int argc, char *argv[])
 	warnx("unrecognized command");
 	return 1;
 }
+#endif
 
 PX4_MAIN_FUNCTION(publisher)
 {
-	warnx("starting");
+	PX4_INFO("starting");
 	PublisherExample p;
 	thread_running = true;
 	p.main();
 
-	warnx("exiting.");
+	PX4_INFO("exiting.");
 	thread_running = false;
 	return 0;
 }

src/examples/subscriber/subscriber_example.cpp

@@ -76,7 +76,8 @@ SubscriberExample::SubscriberExample() :
  * Also the current value of the _sub_rc_chan subscription is printed
  */
 void SubscriberExample::rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) {
-	PX4_INFO("Subscriber callback: [%llu], value of _sub_rc_chan: [%llu]",
-			msg.timestamp_last_valid,
-			((SubscriberPX4<PX4_TOPIC_T(rc_channels)> *)_sub_rc_chan)->timestamp_last_valid);
+	//XXX
+	// PX4_INFO("Subscriber callback: [%llu], value of _sub_rc_chan: [%llu]",
+			// msg.timestamp_last_valid,
+			// ((SubscriberPX4<PX4_TOPIC_T(rc_channels)> *)_sub_rc_chan)->timestamp_last_valid);
 }

src/examples/subscriber/subscriber_example.h

@@ -38,6 +38,9 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 #include <px4.h>
+
+using namespace px4;
+
 class SubscriberExample {
 public:
 	SubscriberExample();

src/examples/subscriber/subscriber_main.cpp

@@ -51,6 +51,7 @@ using namespace px4;
 
 PX4_MAIN_FUNCTION(subscriber);
 
+#if !defined(__linux) && !(defined(__APPLE__) && defined(__MACH__))
 extern "C" __EXPORT int subscriber_main(int argc, char *argv[])
 {
 	if (argc < 1) {
@@ -96,17 +97,18 @@ extern "C" __EXPORT int subscriber_main(int argc, char *argv[])
 	warnx("unrecognized command");
 	return 1;
 }
+#endif
 
 PX4_MAIN_FUNCTION(subscriber)
 {
 	px4::init(argc, argv, "subscriber");
 
-	warnx("starting");
+	PX4_INFO("starting");
 	SubscriberExample s;
 	thread_running = true;
 	s.spin();
 
-	warnx("exiting.");
+	PX4_INFO("exiting.");
 	thread_running = false;
 	return 0;
 }