wrapped subscriber

CMakeLists.txt

@@ -104,6 +104,7 @@ add_library(px4
   src/platforms/ros/px4_ros_impl.cpp
   src/platforms/ros/px4_publisher.cpp
   src/platforms/ros/px4_subscriber.cpp
+  src/platforms/ros/px4_nodehandle.cpp
 )
 
 target_link_libraries(px4

src/examples/subscriber/subscriber.cpp

@@ -57,7 +57,7 @@ int main(int argc, char **argv)
 	 * The first NodeHandle constructed will fully initialize this node, and the last
 	 * NodeHandle destructed will close down the node.
 	 */
-	ros::NodeHandle n;
+	px4::NodeHandle n;
 
 	/**
 	 * The subscribe() call is how you tell ROS that you want to receive messages
@@ -74,7 +74,7 @@ int main(int argc, char **argv)
 	 * is the number of messages that will be buffered up before beginning to throw
 	 * away the oldest ones.
 	 */
-	ros::Subscriber sub = n.subscribe("rc_channels", 1000, rc_channels_callback);
+	px4::Subscriber* sub = n.subscribe("rc_channels", rc_channels_callback);
 
 	/**
 	 * px4::spin() will enter a loop, pumping callbacks.  With this version, all

src/include/px4.h

@@ -58,3 +58,5 @@
 
 #include "../platforms/px4_defines.h"
 #include "../platforms/px4_middleware.h"
+#include "../platforms/px4_nodehandle.h"
+#include "../platforms/px4_subscriber.h"

src/platforms/nuttx/px4_nodehandle.cpp

@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_nodehandle.cpp
+ *
+ * PX4 Middleware Wrapper Nodehandle
+ */
+#include <px4_nodehandle.h>

src/platforms/px4_nodehandle.h

@@ -36,11 +36,27 @@
  *
  * PX4 Middleware Wrapper Node Handle
  */
+#pragma once
+#include <px4_subscriber.h>
+#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
+#include "ros/ros.h"
+#endif
 
 namespace px4
 {
+#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
+class NodeHandle : private ros::NodeHandle
+{
+public:
+	template<class M>
+	Subscriber* subscribe(const char *topic, void(*fp)(M)) {
+		ros::NodeHandle::subscribe("rc_channels", 1000, fp);
+		return new Subscriber();
+	}
+};
+#else
 class NodeHandle
 {
-
 };
+#endif
 }

src/platforms/px4_publisher.h

@@ -36,6 +36,7 @@
  *
  * PX4 Middleware Wrapper Node Handle
  */
+#pragma once
 
 namespace px4
 {

src/platforms/px4_subscriber.h

@@ -36,11 +36,25 @@
  *
  * PX4 Middleware Wrapper Subscriber
  */
+#pragma once
+#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
+#include "ros/ros.h"
+#endif
 
 namespace px4
 {
+
+#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
 class Subscriber
 {
-
+public:
+	Subscriber() {};
+	~Subscriber() {};
 };
+#else
+class Subscriber
+{
+};
+#endif
+
 }

src/platforms/ros/px4_nodehandle.cpp

@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_nodehandle.cpp
+ *
+ * PX4 Middleware Wrapper Nodehandle
+ */
+#include <px4_nodehandle.h>
+
+namespace px4
+{
+}
+

src/platforms/ros/px4_publisher.cpp

@@ -36,5 +36,6 @@
  *
  * PX4 Middleware Wrapper for Publisher
  */
+#include <px4_publisher.h>
 
 

src/platforms/ros/px4_subscriber.cpp

@@ -37,4 +37,5 @@
  * PX4 Middleware Wrapper Subscriber
  */
 
+#include <px4_subscriber.h>