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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-11-25 11:50:35 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-11-25 11:50:35 +0100 |
| commit | 55cf2fc61c7b90725cd960f9c7d72737024f1cfc (patch) | |
| tree | dca32b803a55a4f2154c8fc08d5b6bcfb035c8b7 /src/platforms/px4_publisher.h | |
| parent | c167df90380fdd99d1b56024c4de104a3f0a2f85 (diff) | |
| download | px4-firmware-55cf2fc61c7b90725cd960f9c7d72737024f1cfc.tar.gz px4-firmware-55cf2fc61c7b90725cd960f9c7d72737024f1cfc.tar.bz2 px4-firmware-55cf2fc61c7b90725cd960f9c7d72737024f1cfc.zip | |
WIP, towards more px4 compatibility, first macros
Diffstat (limited to 'src/platforms/px4_publisher.h')
| -rw-r--r-- | src/platforms/px4_publisher.h | 14 |
1 files changed, 13 insertions, 1 deletions
diff --git a/src/platforms/px4_publisher.h b/src/platforms/px4_publisher.h index 72f69a5af..53e63b695 100644 --- a/src/platforms/px4_publisher.h +++ b/src/platforms/px4_publisher.h @@ -38,7 +38,11 @@ */ #pragma once #if defined(__linux) || (defined(__APPLE__) && defined(__MACH__)) +/* includes when building for ros */ #include "ros/ros.h" +#else +/* includes when building for NuttX */ +#include <uORB/Publication.hpp> #endif namespace px4 @@ -56,7 +60,15 @@ private: ros::Publisher _ros_pub; }; #else -class Publisher +template<typename M> +class Publisher : + public uORB::Publication<M> +public: + Publisher(List<SubscriptionBase *> * list, + const struct orb_metadata *meta, unsigned interval) : + uORB::Publication(list, meta) + {} + ~Publisher() {}; { }; #endif |