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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-22 09:30:43 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-22 09:30:43 +0100 |
| commit | 8c4fce3654bbf4cb31314f1fb596f4fd17772589 (patch) | |
| tree | baf3d096173055675b1fbc7362e0756eec69918c /src/platforms/px4_nodehandle.h | |
| parent | 2af44f5995dd121a7ce2aefd3ab1c7d8dcf3fb8d (diff) | |
| download | px4-firmware-8c4fce3654bbf4cb31314f1fb596f4fd17772589.tar.gz px4-firmware-8c4fce3654bbf4cb31314f1fb596f4fd17772589.tar.bz2 px4-firmware-8c4fce3654bbf4cb31314f1fb596f4fd17772589.zip | |
multiplatform: better publisher base class
Diffstat (limited to 'src/platforms/px4_nodehandle.h')
| -rw-r--r-- | src/platforms/px4_nodehandle.h | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h index 8fafa168a..a25d57845 100644 --- a/src/platforms/px4_nodehandle.h +++ b/src/platforms/px4_nodehandle.h @@ -124,12 +124,12 @@ public: * Advertise topic */ template<typename T> - Publisher* advertise() + Publisher<T>* advertise() { ros::Publisher ros_pub = ros::NodeHandle::advertise<typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &>(T::handle(), kQueueSizeDefault); - Publisher *pub = new Publisher(ros_pub); - _pubs.push_back(pub); - return pub; + PublisherROS<T> *pub = new PublisherROS<T>(ros_pub); + _pubs.push_back((PublisherBase*)pub); + return (Publisher<T>*)pub; } /** @@ -236,16 +236,16 @@ public: * Advertise topic */ template<typename T> - Publisher *advertise() + Publisher<T> *advertise() { //XXX // uORB::PublicationBase * uorb_pub = new uORB::PublicationBase((new T())->handle()); uORB::PublicationBase * uorb_pub = new uORB::PublicationBase(T::handle()); - Publisher *pub = new Publisher(uorb_pub); + PublisherUORB<T> *pub = new PublisherUORB<T>(uorb_pub); _pubs.add(pub); - return pub; + return (Publisher<T>*)pub; } /** |