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clean up px4_nodehandle

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Thomas Gubler
2015-01-21 18:29:22 +01:00
parent 358c919325
commit 2b103d319c
1 changed files with 1 additions and 60 deletions
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src/platforms/px4_nodehandle.h
+1 -60
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@@ -78,18 +78,7 @@ public:
* @param topic Name of the topic
* @param fb Callback, executed on receiving a new message
*/
// template<typename M>
// Subscriber<M> *subscribe(const char *topic, void(*fp)(const M &))
// {
// SubscriberBase *sub = new SubscriberROS<M>(std::bind(fp, std::placeholders::_1));
// ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback,
// (SubscriberROS<M> *)sub);
// ((SubscriberROS<M> *)sub)->set_ros_sub(ros_sub);
// _subs.push_back(sub);
// return (Subscriber<M> *)sub;
// }
template<typename T>
// Subscriber<T> *subscribe(void(*fp)(const typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &))
Subscriber<T> *subscribe(void(*fp)(const T &))
{
SubscriberBase *sub = new SubscriberROS<T>(std::bind(fp, std::placeholders::_1));
@@ -133,19 +122,9 @@ public:
/**
* Advertise topic
* @param topic Name of the topic
*/
// template<typename M>
// Publisher *advertise(const char *topic)
// {
// ros::Publisher ros_pub = ros::NodeHandle::advertise<M>(topic, kQueueSizeDefault);
// Publisher *pub = new Publisher(ros_pub);
// _pubs.push_back(pub);
// return pub;
// }
template<typename T>
Publisher* advertise()
// Publisher<T> *advertise()
{
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);
@@ -214,39 +193,14 @@ public:
/**
* Subscribe with callback to function
* @param meta Describes the topic which nodehande should subscribe to
* @param callback Callback, executed on receiving a new message
* @param interval Minimal interval between calls to callback
*/
// template<typename M>
// Subscriber<M> *subscribe(const struct orb_metadata *meta,
// std::function<void(const M &)> callback,
// unsigned interval)
// {
// SubscriberUORBCallback<M> *sub_px4 = new SubscriberUORBCallback<M>(meta, interval, callback, &_subs);
// [> Check if this is the smallest interval so far and update _sub_min_interval <]
// if (_sub_min_interval == nullptr || _sub_min_interval->getInterval() > sub_px4->getInterval()) {
// _sub_min_interval = sub_px4;
// }
// return (Subscriber<M> *)sub_px4;
// }
/**
* Subscribe with callback to function
* @param meta Describes the topic which nodehande should subscribe to
* @param callback Callback, executed on receiving a new message
* @param fp Callback, executed on receiving a new message
* @param interval Minimal interval between calls to callback
*/
template<typename T>
// Subscriber<T> *subscribe(std::function<void(const typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &)> callback, unsigned interval=10) //XXX interval
// 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
{
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));
/* Check if this is the smallest interval so far and update _sub_min_interval */
@@ -280,19 +234,6 @@ public:
/**
* Advertise topic
* @param meta Describes the topic which is advertised
*/
// template<typename M>
// Publisher *advertise(const struct orb_metadata *meta)
// {
// //XXX
// Publisher *pub = new Publisher(meta, &_pubs);
// return pub;
// }
/**
* Advertise topic
* @param meta Describes the topic which is advertised
*/
template<typename T>
Publisher *advertise()