From 2dfd30c25e2839b762ca127fd4af696284df34b9 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Fri, 23 Jan 2015 07:17:06 +0100
Subject: [PATCH] move uorb::subscriptionbase into constructor of subscriber

---
 src/platforms/px4_nodehandle.h | 10 +++-------
 src/platforms/px4_subscriber.h | 13 +++++++------
 2 files changed, 10 insertions(+), 13 deletions(-)

diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h
index 40604aa86e..f2d09c15cb 100644
--- a/src/platforms/px4_nodehandle.h
+++ b/src/platforms/px4_nodehandle.h
@@ -190,8 +190,7 @@ public:
 	template<typename T>
 	Subscriber<T> *subscribe(void(*fp)(const T &),  unsigned interval=10) //XXX interval
 	{
-		uORB::SubscriptionBase * uorb_sub = new uORB::SubscriptionBase(T::handle(), interval);//XXX needs cleanup in destructor ore move into class
-		SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(uorb_sub, interval, std::bind(fp, std::placeholders::_1));
+		SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(interval, std::bind(fp, std::placeholders::_1));
 
 		/* Check if this is the smallest interval so far and update _sub_min_interval */
 		if (_sub_min_interval == nullptr || _sub_min_interval->get_interval() > interval) {
@@ -210,8 +209,7 @@ public:
 	template<typename T, typename C>
 	Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval=10)
 	{
-		uORB::SubscriptionBase * uorb_sub = new uORB::SubscriptionBase(T::handle(), interval);//XXX needs cleanup in destructor ore move into class
-		SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(uorb_sub, interval, std::bind(fp, obj, std::placeholders::_1));
+		SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(interval, std::bind(fp, obj, std::placeholders::_1));
 
 		/* Check if this is the smallest interval so far and update _sub_min_interval */
 		if (_sub_min_interval == nullptr || _sub_min_interval->get_interval() > interval) {
@@ -230,9 +228,7 @@ public:
 	template<typename T>
 	Subscriber<T> *subscribe(unsigned interval=10) //XXX interval
 	{
-		uORB::SubscriptionBase * uorb_sub = new uORB::SubscriptionBase(T::handle(), interval);//XXX needs cleanup in destructor ore move into class
-
-		SubscriberUORB<T> *sub_px4 = new SubscriberUORB<T>(uorb_sub, interval);
+		SubscriberUORB<T> *sub_px4 = new SubscriberUORB<T>(interval);
 
 		/* Check if this is the smallest interval so far and update _sub_min_interval */
 		if (_sub_min_interval == nullptr || _sub_min_interval->get_interval() > interval) {
diff --git a/src/platforms/px4_subscriber.h b/src/platforms/px4_subscriber.h
index a54b8eb087..e086cd4c26 100644
--- a/src/platforms/px4_subscriber.h
+++ b/src/platforms/px4_subscriber.h
@@ -183,12 +183,14 @@ public:
 	 * Construct SubscriberUORB by providing orb meta data without callback
 	 * @param interval	Minimal interval between calls to callback
 	 */
-	SubscriberUORB(uORB::SubscriptionBase * uorb_sub, unsigned interval) :
+	SubscriberUORB(unsigned interval) :
 		SubscriberNode(interval),
-		_uorb_sub(uorb_sub)
+		_uorb_sub(new uORB::SubscriptionBase(T::handle(), interval))
 	{}
 
-	virtual ~SubscriberUORB() {};
+	virtual ~SubscriberUORB() {
+		delete _uorb_sub;
+	};
 
 	/**
 	 * Update Subscription
@@ -233,10 +235,9 @@ public:
 	 * @param cbf		Callback, executed on receiving a new message
 	 * @param interval	Minimal interval between calls to callback
 	 */
-	SubscriberUORBCallback(uORB::SubscriptionBase * uorb_sub,
-				unsigned interval,
+	SubscriberUORBCallback(unsigned interval,
 			       std::function<void(const T &)> cbf) :
-		SubscriberUORB<T>(uorb_sub, interval),
+		SubscriberUORB<T>(interval),
 		_cbf(cbf)
 	{}