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move ros::subscriber into constructor of subscriber

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This commit is contained in:
Thomas Gubler 2015-01-23 07:06:02 +01:00
parent b2a911b88d
commit 1e504478a0
2 changed files with 13 additions and 31 deletions
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15
src/platforms/px4_nodehandle.h
View File

@ -81,9 +81,7 @@ public:
template<typename T>
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(T::handle(), kQueueSizeDefault,
&SubscriberROS<T>::callback, (SubscriberROS<T> *)sub);
((SubscriberROS<T> *)sub)->set_ros_sub(ros_sub);
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, std::placeholders::_1));
_subs.push_back(sub);
return (Subscriber<T> *)sub;
}
@ -96,11 +94,7 @@ public:
template<typename T, typename C>
Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj)
{
SubscriberBase *sub = new SubscriberROS<T>(std::bind(fp, obj, std::placeholders::_1));
ros::Subscriber ros_sub = ros::NodeHandle::subscribe(T::handle(), kQueueSizeDefault,
&SubscriberROS<T>::callback, (SubscriberROS<T> *)sub);//XXX needs cleanup in destructor ore move into class
((SubscriberROS<T> *)sub)->set_ros_sub(ros_sub);
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, obj, std::placeholders::_1));
_subs.push_back(sub);
return (Subscriber<T> *)sub;
}
@ -111,10 +105,7 @@ public:
template<typename T>
Subscriber<T> *subscribe()
{
SubscriberBase *sub = new SubscriberROS<T>();
ros::Subscriber ros_sub = ros::NodeHandle::subscribe(T::handle(), kQueueSizeDefault,
&SubscriberROS<T>::callback, (SubscriberROS<T> *)sub);
((SubscriberROS<T> *)sub)->set_ros_sub(ros_sub);
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this);
_subs.push_back(sub);
return (Subscriber<T> *)sub;
}

29
src/platforms/px4_subscriber.h
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@ -102,24 +102,23 @@ class SubscriberROS :
public:
/**
* Construct Subscriber by providing a callback function
* Construct Subscriber without a callback function
*/
SubscriberROS(std::function<void(const T &)> cbf) :
Subscriber<T>(),
_ros_sub(),
_cbf(cbf)
SubscriberROS(ros::NodeHandle *rnh) :
px4::Subscriber<T>(),
_cbf(NULL),
_ros_sub(rnh->subscribe(T::handle(), 1, &SubscriberROS<T>::callback, this))
{}
/**
* Construct Subscriber without a callback function
* Construct Subscriber by providing a callback function
*/
SubscriberROS() :
Subscriber<T>(),
_ros_sub(),
_cbf(NULL)
//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))
{}
virtual ~SubscriberROS() {};
protected:
@ -139,14 +138,6 @@ protected:
}
/**
* Saves the ros subscriber to keep ros subscription alive
*/
void set_ros_sub(ros::Subscriber ros_sub)
{
_ros_sub = ros_sub;
}
ros::Subscriber _ros_sub; /**< Handle to ros subscriber */
std::function<void(const T &)> _cbf; /**< Callback that the user provided on the subscription */