make px4::ok work, use it in px4::spin

CMakeLists.txt

@@ -102,9 +102,6 @@ include_directories(
 ## Declare a cpp library
 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/platforms/nuttx/module.mk

@@ -35,9 +35,6 @@
 # NuttX / uORB adapter library
 #
 
-SRCS		 = 	px4_nuttx_impl.cpp \
+SRCS		 = 	px4_nuttx_impl.cpp
-			px4_publisher.cpp \
-			px4_subscriber.cpp \
-			px4_nodehandle.cpp
 
 MAXOPTIMIZATION	 = -Os

src/platforms/nuttx/px4_nodehandle.cpp

@@ -37,27 +37,8 @@
  * PX4 Middleware Wrapper Nodehandle
  */
 #include <px4.h>
-#include <platforms/px4_nodehandle.h>
 
 namespace px4
 {
-bool task_should_exit = false;
-
-
-void NodeHandle::spinOnce() {
-	/* Loop through subscriptions, call callback for updated subscriptions */
-	uORB::SubscriptionNode *sub = _subs.getHead();
-	int count = 0;
-
-	while (sub != nullptr) {
-		if (count++ > kMaxSubscriptions) {
-			PX4_WARN("exceeded max subscriptions");
-			break;
-		}
-
-		sub->update();
-		sub = sub->getSibling();
-	}
-}
 
 }

src/platforms/nuttx/px4_nuttx_impl.cpp

@@ -54,9 +54,4 @@ uint64_t get_time_micros()
 	return hrt_absolute_time();
 }
 
-bool ok()
-{
-	return !task_should_exit;
-}
-
 }

src/platforms/px4_middleware.h

@@ -49,7 +49,12 @@ __EXPORT void init(int argc, char *argv[], const char *process_name);
 
 __EXPORT uint64_t get_time_micros();
 
-__EXPORT bool ok();
+#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
+bool ok() { return ros::ok(); }
+#else
+extern bool task_should_exit;
+bool ok() { return !task_should_exit; }
+#endif
 
 class Rate
 {
@@ -64,6 +69,4 @@ private:
 
 };
 
-extern bool task_should_exit;
-
 } // namespace px4

src/platforms/px4_nodehandle.h

@@ -41,6 +41,7 @@
 /* includes for all platforms */
 #include "px4_subscriber.h"
 #include "px4_publisher.h"
+#include "px4_middleware.h"
 
 #if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
 /* includes when building for ros */
@@ -126,10 +127,24 @@ public:
 		return pub;
 	}
 
-	void spinOnce();
+	void spinOnce() {
+		/* Loop through subscriptions, call callback for updated subscriptions */
+		uORB::SubscriptionNode *sub = _subs.getHead();
+		int count = 0;
+
+		while (sub != nullptr) {
+			if (count++ > kMaxSubscriptions) {
+				PX4_WARN("exceeded max subscriptions");
+				break;
+			}
+
+			sub->update();
+			sub = sub->getSibling();
+		}
+	}
 
 	void spin() {
-		while (true) { //XXX check for termination
+		while (ok()) {
 			const int timeout_ms = 100;
 			/* Only continue in the loop if the nodehandle has subscriptions */
 			if (_sub_min_interval == nullptr) {

src/platforms/ros/px4_ros_impl.cpp

@@ -53,9 +53,4 @@ uint64_t get_time_micros()
 	return time.sec * 1e6 + time.nsec / 1000;
 }
 
-bool ok()
-{
-	return ros::ok();
-}
-
 }