From afb2c37bfc20150718114c4ef56e40a7c4d4722f Mon Sep 17 00:00:00 2001
From: James Goppert <james.goppert@gmail.com>
Date: Sun, 16 Mar 2014 17:01:03 -0400
Subject: [PATCH] Fixed uORB Pub/Sub templates for GCC 4.7

---
 src/modules/uORB/Publication.cpp  | 27 ++++++++++++++++++++++++++
 src/modules/uORB/Publication.hpp  | 12 ++++--------
 src/modules/uORB/Subscription.cpp | 32 +++++++++++++++++++++++++++++++
 src/modules/uORB/Subscription.hpp | 14 ++++----------
 4 files changed, 67 insertions(+), 18 deletions(-)

diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp
index ed67b485de..78a5cd2045 100644
--- a/src/modules/uORB/Publication.cpp
+++ b/src/modules/uORB/Publication.cpp
@@ -37,3 +37,30 @@
  */
 
 #include "Publication.hpp"
+#include "topics/vehicle_attitude.h"
+#include "topics/vehicle_local_position.h"
+#include "topics/vehicle_global_position.h"
+
+namespace uORB {
+
+template<class T>
+Publication<T>::Publication(
+	List<PublicationBase *> * list,
+	const struct orb_metadata *meta) :
+	T(), // initialize data structure to zero
+	PublicationBase(list, meta) {
+}
+
+template<class T>
+Publication<T>::~Publication() {}
+
+template<class T>
+void * Publication<T>::getDataVoidPtr() {
+	return (void *)(T *)(this);
+}
+
+template class __EXPORT Publication<vehicle_attitude_s>;
+template class __EXPORT Publication<vehicle_local_position_s>;
+template class __EXPORT Publication<vehicle_global_position_s>;
+
+}
diff --git a/src/modules/uORB/Publication.hpp b/src/modules/uORB/Publication.hpp
index 21840ed701..8650b3df89 100644
--- a/src/modules/uORB/Publication.hpp
+++ b/src/modules/uORB/Publication.hpp
@@ -95,13 +95,9 @@ public:
 	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
 	 *			for the topic.
 	 */
-	Publication(
-		List<PublicationBase *> * list,
-		const struct orb_metadata *meta) :
-		T(), // initialize data structure to zero
-		PublicationBase(list, meta) {
-	}
-	virtual ~Publication() {}
+	Publication(List<PublicationBase *> * list,
+		const struct orb_metadata *meta);
+	virtual ~Publication();
 	/*
 	 * XXX
 	 * This function gets the T struct, assuming
@@ -109,7 +105,7 @@ public:
 	 * should use dynamic cast, but doesn't
 	 * seem to be available
 	 */
-	void *getDataVoidPtr() { return (void *)(T *)(this); }
+	void *getDataVoidPtr();
 };
 
 } // namespace uORB
diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp
index 6e8830708b..16da3b66f4 100644
--- a/src/modules/uORB/Subscription.cpp
+++ b/src/modules/uORB/Subscription.cpp
@@ -37,6 +37,10 @@
  */
 
 #include "Subscription.hpp"
+#include "topics/parameter_update.h"
+#include "topics/actuator_controls.h"
+#include "topics/vehicle_gps_position.h"
+#include "topics/sensor_combined.h"
 
 namespace uORB
 {
@@ -48,4 +52,32 @@ bool __EXPORT SubscriptionBase::updated()
 	return isUpdated;
 }
 
+template<class T>
+Subscription<T>::Subscription(
+	List<SubscriptionBase *> * list,
+	const struct orb_metadata *meta, unsigned interval) :
+	T(), // initialize data structure to zero
+	SubscriptionBase(list, meta) {
+	setHandle(orb_subscribe(getMeta()));
+	orb_set_interval(getHandle(), interval);
+}
+
+template<class T>
+Subscription<T>::~Subscription() {}
+
+template<class T>
+void * Subscription<T>::getDataVoidPtr() {
+	return (void *)(T *)(this);
+}
+
+template<class T>
+T Subscription<T>::getData() {
+	return T(*this);
+}
+
+template class __EXPORT Subscription<parameter_update_s>;
+template class __EXPORT Subscription<actuator_controls_s>;
+template class __EXPORT Subscription<vehicle_gps_position_s>;
+template class __EXPORT Subscription<sensor_combined_s>;
+
 } // namespace uORB
diff --git a/src/modules/uORB/Subscription.hpp b/src/modules/uORB/Subscription.hpp
index d839f80239..34e9a83e03 100644
--- a/src/modules/uORB/Subscription.hpp
+++ b/src/modules/uORB/Subscription.hpp
@@ -108,17 +108,11 @@ public:
 	 */
 	Subscription(
 		List<SubscriptionBase *> * list,
-		const struct orb_metadata *meta, unsigned interval) :
-		T(), // initialize data structure to zero
-		SubscriptionBase(list, meta) {
-		setHandle(orb_subscribe(getMeta()));
-		orb_set_interval(getHandle(), interval);
-	}
-
+		const struct orb_metadata *meta, unsigned interval);
 	/**
 	 * Deconstructor
 	 */
-	virtual ~Subscription() {}
+	virtual ~Subscription();
 
 	/*
 	 * XXX
@@ -127,8 +121,8 @@ public:
 	 * should use dynamic cast, but doesn't
 	 * seem to be available
 	 */
-	void *getDataVoidPtr() { return (void *)(T *)(this); }
-	T getData() { return T(*this); }
+	void *getDataVoidPtr();
+	T getData();
 };
 
 } // namespace uORB