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move uorb::subscriptionbase into constructor of subscriber

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Thomas Gubler
2015-01-23 07:17:06 +01:00
parent 1ad6e00234
commit 2dfd30c25e
2 changed files with 10 additions and 13 deletions
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src/platforms/px4_nodehandle.h
+3 -7
View File
@@ -190,8 +190,7 @@ public:
template<typename T> template<typename T>
Subscriber<T> *subscribe(void(*fp)(const T &), 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);//XXX needs cleanup in destructor ore move into class SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(interval, std::bind(fp, std::placeholders::_1));
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 */ /* 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) { if (_sub_min_interval == nullptr || _sub_min_interval->get_interval() > interval) {
@@ -210,8 +209,7 @@ public:
template<typename T, typename C> template<typename T, typename C>
Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval=10) 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>(interval, std::bind(fp, obj, std::placeholders::_1));
SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(uorb_sub, interval, std::bind(fp, obj, std::placeholders::_1));
/* Check if this is the smallest interval so far and update _sub_min_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) { if (_sub_min_interval == nullptr || _sub_min_interval->get_interval() > interval) {
@@ -230,9 +228,7 @@ public:
template<typename T> template<typename T>
Subscriber<T> *subscribe(unsigned interval=10) //XXX interval 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>(interval);
SubscriberUORB<T> *sub_px4 = new SubscriberUORB<T>(uorb_sub, interval);
/* Check if this is the smallest interval so far and update _sub_min_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) { if (_sub_min_interval == nullptr || _sub_min_interval->get_interval() > interval) {
src/platforms/px4_subscriber.h
+7 -6
View File
@@ -183,12 +183,14 @@ public:
* Construct SubscriberUORB by providing orb meta data without callback * Construct SubscriberUORB by providing orb meta data without callback
* @param interval Minimal interval between calls to callback * @param interval Minimal interval between calls to callback
*/ */
SubscriberUORB(uORB::SubscriptionBase * uorb_sub, unsigned interval) : SubscriberUORB(unsigned interval) :
SubscriberNode(interval), SubscriberNode(interval),
_uorb_sub(uorb_sub) _uorb_sub(new uORB::SubscriptionBase(T::handle(), interval))
{} {}
virtual ~SubscriberUORB() {}; virtual ~SubscriberUORB() {
delete _uorb_sub;
};
/** /**
* Update Subscription * Update Subscription
@@ -233,10 +235,9 @@ public:
* @param cbf Callback, executed on receiving a new message * @param cbf Callback, executed on receiving a new message
* @param interval Minimal interval between calls to callback * @param interval Minimal interval between calls to callback
*/ */
SubscriberUORBCallback(uORB::SubscriptionBase * uorb_sub, SubscriberUORBCallback(unsigned interval,
unsigned interval,
std::function<void(const T &)> cbf) : std::function<void(const T &)> cbf) :
SubscriberUORB<T>(uorb_sub, interval), SubscriberUORB<T>(interval),
_cbf(cbf) _cbf(cbf)
{} {}