Working on segway controller, restructure of fixedwing.

1 files changed, 0 insertions, 137 deletions

diff --git a/src/modules/controllib/block/UOrbSubscription.hpp b/src/modules/controllib/block/UOrbSubscription.hpp
deleted file mode 100644
index 22cc2e114..000000000
--- a/src/modules/controllib/block/UOrbSubscription.hpp
+++ /dev/null
@@ -1,137 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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 UOrbSubscription.h
- *
- */
-
-#pragma once
-
-#include <uORB/uORB.h>
-#include "Block.hpp"
-#include "List.hpp"
-
-
-namespace control
-{
-
-class Block;
-
-/**
- * Base subscription warapper class, used in list traversal
- * of various subscriptions.
- */
-class __EXPORT UOrbSubscriptionBase :
-	public ListNode<control::UOrbSubscriptionBase *>
-{
-public:
-// methods
-
-	/**
-	 * Constructor
-	 *
-	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
-	 *			for the topic.
-	 */
-	UOrbSubscriptionBase(
-		List<UOrbSubscriptionBase *> * list,
-		const struct orb_metadata *meta) :
-		_meta(meta),
-		_handle() {
-		if (list != NULL) list->add(this);
-	}
-	bool updated();
-	void update() {
-		if (updated()) {
-			orb_copy(_meta, _handle, getDataVoidPtr());
-		}
-	}
-	virtual void *getDataVoidPtr() = 0;
-	virtual ~UOrbSubscriptionBase() {
-		orb_unsubscribe(_handle);
-	}
-// accessors
-	const struct orb_metadata *getMeta() { return _meta; }
-	int getHandle() { return _handle; }
-protected:
-// accessors
-	void setHandle(int handle) { _handle = handle; }
-// attributes
-	const struct orb_metadata *_meta;
-	int _handle;
-};
-
-/**
- * UOrb Subscription wrapper class
- */
-template<class T>
-class __EXPORT UOrbSubscription :
-	public T, // this must be first!
-	public UOrbSubscriptionBase
-{
-public:
-	/**
-	 * Constructor
-	 *
-	 * @param list      A list interface for adding to list during construction
-	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
-	 *			for the topic.
-	 * @param interval  The minimum interval in milliseconds between updates
-	 */
-	UOrbSubscription(
-		List<UOrbSubscriptionBase *> * list,
-		const struct orb_metadata *meta, unsigned interval) :
-		T(), // initialize data structure to zero
-		UOrbSubscriptionBase(list, meta) {
-		setHandle(orb_subscribe(getMeta()));
-		orb_set_interval(getHandle(), interval);
-	}
-
-	/**
-	 * Deconstructor
-	 */
-	virtual ~UOrbSubscription() {}
-
-	/*
-	 * XXX
-	 * This function gets the T struct, assuming
-	 * the struct is the first base class, this
-	 * should use dynamic cast, but doesn't
-	 * seem to be available
-	 */
-	void *getDataVoidPtr() { return (void *)(T *)(this); }
-	T getData() { return T(*this); }
-};
-
-} // namespace control