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clean up px4_subscriber

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This commit is contained in:
Thomas Gubler
2015-01-21 18:23:18 +01:00
parent a761df4ffa
commit 358c919325
1 changed files with 10 additions and 33 deletions
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src/platforms/px4_subscriber.h
+10 -33
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@@ -104,7 +104,6 @@ public:
/**
* Construct Subscriber by providing a callback function
*/
// SubscriberROS(std::function<void(const typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &)> cbf) :
SubscriberROS(std::function<void(const T &)> cbf) :
Subscriber<T>(),
_ros_sub(),
@@ -195,16 +194,8 @@ public:
/**
* Construct SubscriberUORB by providing orb meta data without callback
* @param meta orb metadata for the topic which is used
* @param interval Minimal interval between calls to callback
* @param list subscriber is added to this list
*/
// SubscriberUORB(const struct orb_metadata *meta,
// unsigned interval,
// List<uORB::SubscriptionNode *> *list) :
// Subscriber<M>(),
// uORB::Subscription<M>(meta, interval, list)
// {}
SubscriberUORB(uORB::SubscriptionBase * uorb_sub, unsigned interval) :
SubscriberNode(interval),
_uorb_sub(uorb_sub)
@@ -227,25 +218,21 @@ public:
};
/* Accessors*/
/**
* Get the last message value
*/
// T get() { return (T)(typename std::remove_reference<decltype(((T*)nullptr)->data())>::type)*_uorb_sub; }
// T get() {
// typename std::remove_reference<decltype(((T*)nullptr)->data())>::type msg = (typename std::remove_reference<decltype(((T*)nullptr)->data())>::type)*_uorb_sub;
// return (T)msg;
// }
int getUORBHandle() { return _uorb_sub->getHandle(); }
protected:
uORB::SubscriptionBase * _uorb_sub; /**< Handle to the subscription */
typename std::remove_reference<decltype(((T*)nullptr)->data())>::type getUORBData()
{
return (typename std::remove_reference<decltype(((T*)nullptr)->data())>::type)*_uorb_sub;
}
/**
* Get void pointer to last message value
*/
void *get_void_ptr() { return (void *)&(this->_msg_current.data()); }
int getUORBHandle() { return _uorb_sub->getHandle(); }
protected:
uORB::SubscriptionBase * _uorb_sub; /**< Handle to the subscription */
typename std::remove_reference<decltype(((T*)nullptr)->data())>::type getUORBData() { return (typename std::remove_reference<decltype(((T*)nullptr)->data())>::type)*_uorb_sub; }
};
//XXX reduce to one class with overloaded constructor?
@@ -256,18 +243,9 @@ class __EXPORT SubscriberUORBCallback :
public:
/**
* Construct SubscriberUORBCallback by providing orb meta data
* @param meta orb metadata for the topic which is used
* @param callback 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 list subscriber is added to this list
*/
// SubscriberUORBCallback(const struct orb_metadata *meta,
// unsigned interval,
// std::function<void(const M &)> callback,
// List<uORB::SubscriptionNode *> *list) :
// SubscriberUORB<M>(meta, interval, list),
// _callback(callback)
// {}
SubscriberUORBCallback(uORB::SubscriptionBase * uorb_sub,
unsigned interval,
std::function<void(const T &)> cbf) :
@@ -304,7 +282,6 @@ public:
};
protected:
// std::function<void(const typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &)> _callback; [>*< Callback handle, called when new data is available */
std::function<void(const T &)> _cbf; /**< Callback that the user provided on the subscription */
};
#endif