get rid of lots of multiplatform macros, oh yeah

1 files changed, 2 insertions, 72 deletions

diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h
index fa4e1398e..996e56efb 100644
--- a/src/platforms/px4_defines.h
+++ b/src/platforms/px4_defines.h
@@ -54,6 +54,7 @@
 #ifdef __cplusplus
 #include "ros/ros.h"
 #endif
+
 /* Main entry point */
 #define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv)
 
@@ -61,48 +62,8 @@
 #define PX4_WARN ROS_WARN
 #define PX4_INFO ROS_INFO
 
-/* Topic Handle */
-#define PX4_TOPIC(_name) #_name
-
-/* Topic type */
-#define PX4_TOPIC_T(_name) px4::_name
-
-/* Subscribe and providing a class method as callback (do not use directly, use PX4_SUBSCRIBE instead) */
-#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _objptr, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, _objptr);
-/* Subscribe and providing a function as callback (do not use directly, use PX4_SUBSCRIBE instead) */
-#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf);
-/* Subscribe without a callback (do not use directly, use PX4_SUBSCRIBE instead) */
-#define PX4_SUBSCRIBE_NOCB(_nodehandle, _name, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name));
-
-/* Parameter handle datatype */
-typedef const char *px4_param_t;
-
-/* Helper functions to set ROS params, only int and float supported */
-static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, int value)
-{
-	if (!ros::param::has(name)) {
-		ros::param::set(name, value);
-	}
-
-	return (px4_param_t)name;
-};
-static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value)
-{
-	if (!ros::param::has(name)) {
-		ros::param::set(name, value);
-	}
-
-	return (px4_param_t)name;
-};
-
-/* Initialize a param, in case of ROS the parameter is sent to the parameter server here */
-#define PX4_PARAM_INIT(_name) PX4_ROS_PARAM_SET(#_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name))
-
-/* Get value of parameter by handle */
-#define PX4_PARAM_GET(_handle, _destpt) ros::param::get(_handle, *_destpt)
-
 /* Get value of parameter by name, which is equal to the handle for ros */
-#define PX4_PARAM_GET_BYNAME(_name, _destpt) PX4_PARAM_GET(_name, _destpt)
+#define PX4_PARAM_GET_BYNAME(_name, _destpt) ros::param::get(_name, *_destpt)
 
 #define OK 0
 #define ERROR -1
@@ -150,29 +111,10 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value)
 #define PX4_WARN warnx
 #define PX4_INFO warnx
 
-/* Topic Handle */
-#define PX4_TOPIC(_name) ORB_ID(_name)
-
-/* Topic type */
-#define PX4_TOPIC_T(_name) _name##_s
-
-/* Subscribe and providing a class method as callback (do not use directly, use PX4_SUBSCRIBE instead) */
-#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _objptr, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, _objptr, std::placeholders::_1), _interval)
-/* Subscribe and providing a function as callback (do not use directly, use PX4_SUBSCRIBE instead) */
-#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, std::placeholders::_1), _interval)
-/* Subscribe without a callback (do not use directly, use PX4_SUBSCRIBE instead) */
-#define PX4_SUBSCRIBE_NOCB(_nodehandle, _name, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), _interval)
-
 /* Parameter handle datatype */
 #include <systemlib/param/param.h>
 typedef param_t px4_param_t;
 
-/* Initialize a param, get param handle */
-#define PX4_PARAM_INIT(_name) param_find(#_name)
-
-/* Get value of parameter by handle */
-#define PX4_PARAM_GET(_handle, _destpt) param_get(_handle, _destpt)
-
 /* Get value of parameter by name */
 #define PX4_PARAM_GET_BYNAME(_name, _destpt) param_get(param_find(_name), _destpt)
 
@@ -187,18 +129,6 @@ typedef param_t px4_param_t;
 
 /* Defines for all platforms */
 
-/* Shortcut for subscribing to topics
- * Overload the PX4_SUBSCRIBE macro to suppport methods, pure functions as callback and no callback at all
- */
-#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))
-
 /* wrapper for 2d matrices */
 #define PX4_ARRAY2D(_array, _ncols, _x, _y) (_array[_x * _ncols + _y])