add base class and template subscriber class as well to improve interface to get last msg value

src/examples/subscriber/subscriber_example.cpp

@@ -78,5 +78,5 @@ SubscriberExample::SubscriberExample() :
 void SubscriberExample::rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) {
 	PX4_INFO("Subscriber callback: [%llu], value of _sub_rc_chan: [%llu]",
 			msg.timestamp_last_valid,
-			((PX4_SUBSCRIBER_T(rc_channels) *)_sub_rc_chan)->get_msg().timestamp_last_valid);
+			_sub_rc_chan->get_msg().timestamp_last_valid);
 }

src/examples/subscriber/subscriber_example.h

@@ -54,7 +54,7 @@ protected:
 	int32_t _interval;
 	px4_param_t _p_test_float;
 	float _test_float;
-	px4::Subscriber * _sub_rc_chan;
+	px4::PX4_SUBSCRIBER(rc_channels) * _sub_rc_chan;
 
 	void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg);
 

src/platforms/px4_defines.h

@@ -93,9 +93,6 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value)
 /* Get value of parameter */
 #define PX4_PARAM_GET(_handle, _destpt) ros::param::get(_handle, *_destpt)
 
-/* Get a subscriber class type based on the topic name */
-#define PX4_SUBSCRIBER_T(_name) SubscriberROS<PX4_TOPIC_T(_name)>
-
 #else
 /*
  * Building for NuttX
@@ -134,9 +131,6 @@ typedef param_t px4_param_t;
 /* Get value of parameter */
 #define PX4_PARAM_GET(_handle, _destpt) param_get(_handle, _destpt)
 
-/* Get a subscriber class type based on the topic name */
-#define PX4_SUBSCRIBER_T(_name) SubscriberUORB<PX4_TOPIC_T(_name)>
-
 /* XXX this is a hack to resolve conflicts with NuttX headers */
 #define isspace(c) \
   ((c) == ' '  || (c) == '\t' || (c) == '\n' || \
@@ -150,6 +144,9 @@ typedef param_t px4_param_t;
 #define PX4_GET_SUBSCRIBE(_1, _2, _3, _4, _5, NAME, ...) NAME
 #define PX4_SUBSCRIBE(...) PX4_GET_SUBSCRIBE(__VA_ARGS__, PX4_SUBSCRIBE_CBMETH, PX4_SUBSCRIBE_CBFUNC, PX4_SUBSCRIBE_NOCB)(__VA_ARGS__)
 
+/* Get a subscriber class type based on the topic name */
+#define PX4_SUBSCRIBER(_name) Subscriber<PX4_TOPIC_T(_name)>
+
 /* shortcut for advertising topics */
 #define PX4_ADVERTISE(_nodehandle, _name) _nodehandle.advertise<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name))
 

src/platforms/px4_nodehandle.h

@@ -77,13 +77,13 @@ public:
 	 * @param fb		Callback, executed on receiving a new message
 	 */
 	template<typename M>
-	Subscriber *subscribe(const char *topic, void(*fp)(const M&))
+	Subscriber<M> *subscribe(const char *topic, void(*fp)(const M&))
 	{
-		Subscriber *sub = new SubscriberROS<M>(std::bind(fp, std::placeholders::_1));
+		SubscriberBase *sub = new SubscriberROS<M>(std::bind(fp, std::placeholders::_1));
 		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback, (SubscriberROS<M>*)sub);
 		((SubscriberROS<M>*)sub)->set_ros_sub(ros_sub);
 		_subs.push_back(sub);
-		return sub;
+		return (Subscriber<M> *)sub;
 	}
 
 	/**
@@ -92,13 +92,13 @@ public:
 	 * @param fb		Callback, executed on receiving a new message
 	 */
 	template<typename M, typename T>
-	Subscriber *subscribe(const char *topic, void(T::*fp)(const M&), T *obj)
+	Subscriber<M> *subscribe(const char *topic, void(T::*fp)(const M&), T *obj)
 	{
-		Subscriber *sub = new SubscriberROS<M>(std::bind(fp, obj, std::placeholders::_1));
+		SubscriberBase *sub = new SubscriberROS<M>(std::bind(fp, obj, std::placeholders::_1));
 		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback, (SubscriberROS<M>*)sub);
 		((SubscriberROS<M>*)sub)->set_ros_sub(ros_sub);
 		_subs.push_back(sub);
-		return sub;
+		return (Subscriber<M> *)sub;
 	}
 
 	/**
@@ -106,13 +106,13 @@ public:
 	 * @param topic		Name of the topic
 	 */
 	template<typename M>
-	Subscriber *subscribe(const char *topic)
+	Subscriber<M> *subscribe(const char *topic)
 	{
-		Subscriber *sub = new SubscriberROS<M>();
+		SubscriberBase *sub = new SubscriberROS<M>();
 		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback, (SubscriberROS<M>*)sub);
 		((SubscriberROS<M>*)sub)->set_ros_sub(ros_sub);
 		_subs.push_back(sub);
-		return sub;
+		return (Subscriber<M> *)sub;
 	}
 
 	/**
@@ -141,10 +141,10 @@ public:
 
 private:
 	static const uint32_t kQueueSizeDefault = 1000;		/**< Size of queue for ROS */
-	std::list<Subscriber *> _subs;				/**< Subcriptions of node */
+	std::list<SubscriberBase *> _subs;				/**< Subcriptions of node */
-	std::list<Publisher *> _pubs;				/**< Publications of node */
+	std::list<PublisherBase *> _pubs;				/**< Publications of node */
 };
-#else
+#else //Building for NuttX
 class __EXPORT NodeHandle
 {
 public:
@@ -164,7 +164,7 @@ public:
 	 */
 
 	template<typename M>
-	Subscriber *subscribe(const struct orb_metadata *meta,
+	Subscriber<M> *subscribe(const struct orb_metadata *meta,
 			      std::function<void(const M &)> callback,
 			      unsigned interval)
 	{
@@ -175,7 +175,7 @@ public:
 			_sub_min_interval = sub_px4;
 		}
 
-		return (Subscriber *)sub_px4;
+		return (Subscriber<M> *)sub_px4;
 	}
 
 	/**

src/platforms/px4_publisher.h

@@ -48,15 +48,30 @@
 
 namespace px4
 {
+
+/**
+ * Untemplated publisher base class
+ * */
+class PublisherBase
+{
+public:
+	PublisherBase() {};
+	~PublisherBase() {};
+
+};
+
 #if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
-class Publisher
+class Publisher :
+	public PublisherBase
 {
 public:
 	/**
 	 * Construct Publisher by providing a ros::Publisher
 	 * @param ros_pub the ros publisher which will be used to perform the publications
 	 */
-	Publisher(ros::Publisher ros_pub) : _ros_pub(ros_pub)
+	Publisher(ros::Publisher ros_pub) :
+		PublisherBase(),
+		_ros_pub(ros_pub)
 	{}
 
 	~Publisher() {};
@@ -71,7 +86,8 @@ private:
 };
 #else
 class Publisher :
-	public uORB::PublicationNode
+	public uORB::PublicationNode,
+	public PublisherBase
 {
 public:
 	/**
@@ -81,7 +97,8 @@ public:
 	 */
 	Publisher(const struct orb_metadata *meta,
 		  List<uORB::PublicationNode *> *list) :
-		uORB::PublicationNode(meta, list)
+		uORB::PublicationNode(meta, list),
+		PublisherBase()
 	{}
 
 	~Publisher() {};

src/platforms/px4_subscriber.h

@@ -50,14 +50,36 @@
 
 namespace px4
 {
+
+/**
+ * Untemplated subscriber base class
+ * */
+class SubscriberBase
+{
+public:
+	SubscriberBase() {};
+	~SubscriberBase() {};
+
+};
+
 /**
  * Subscriber class which is used by nodehandle
  */
-class Subscriber
+template<typename M>
+class Subscriber :
+	public SubscriberBase
 {
 public:
-	Subscriber() {};
+	Subscriber() :
+		SubscriberBase()
+	{};
 	~Subscriber() {};
+
+	/* Accessors*/
+	/**
+	 * Get the last message value
+	 */
+	virtual const M& get_msg() = 0;
 };
 
 #if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
@@ -66,7 +88,7 @@ public:
  */
 template<typename M>
 class SubscriberROS :
-	public Subscriber
+	public Subscriber<M>
 {
 friend class NodeHandle;
 
@@ -75,7 +97,7 @@ public:
 	 * Construct Subscriber by providing a callback function
 	 */
 	SubscriberROS(std::function<void(const M &)> cbf) :
-		Subscriber(),
+		Subscriber<M>(),
 		_ros_sub(),
 		_cbf(cbf),
 		_msg_current()
@@ -85,7 +107,7 @@ public:
 	 * Construct Subscriber without a callback function
 	 */
 	SubscriberROS() :
-		Subscriber(),
+		Subscriber<M>(),
 		_ros_sub(),
 		_cbf(NULL),
 		_msg_current()
@@ -128,14 +150,14 @@ protected:
 
 };
 
-#else
+#else // Building for NuttX
 
 /**
  * Subscriber class that is templated with the uorb subscription message type
  */
 template<typename M>
 class SubscriberUORB :
-	public Subscriber,
+	public Subscriber<M>,
 	public uORB::Subscription<M>
 {
 public:
@@ -150,7 +172,7 @@ public:
 		      unsigned interval,
 		      std::function<void(const M &)> callback,
 		      List<uORB::SubscriptionNode *> *list) :
-		Subscriber(),
+		Subscriber<M>(),
 		uORB::Subscription<M>(meta, interval, list),
 		_callback(callback)
 		//XXX store callback