From 8c4fce3654bbf4cb31314f1fb596f4fd17772589 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Thu, 22 Jan 2015 09:30:43 +0100
Subject: multiplatform: better publisher base class

---
 makefiles/toolchain_gnu-arm-eabi.mk        | 40 +++++++++++++--------------
 src/examples/publisher/publisher_example.h |  3 +-
 src/platforms/px4_nodehandle.h             | 14 +++++-----
 src/platforms/px4_publisher.h              | 44 ++++++++++++++++++++----------
 4 files changed, 59 insertions(+), 42 deletions(-)

diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 396980453..d38ef645f 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -125,26 +125,26 @@ ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics
 
 # Generic warnings
 #
-ARCHWARNINGS		 = -Wall \
-			   -Wextra \
-			   -Werror \
-			   -Wdouble-promotion \
-			   -Wshadow \
-			   -Wfloat-equal \
-			   -Wframe-larger-than=1024 \
-			   -Wpointer-arith \
-			   -Wlogical-op \
-			   -Wmissing-declarations \
-			   -Wpacked \
-			   -Wno-unused-parameter \
-			   -Werror=format-security \
-			   -Werror=array-bounds \
-			   -Wfatal-errors \
-			   -Wformat=1 \
-			   -Werror=unused-but-set-variable \
-			   -Werror=unused-variable \
-			   -Werror=double-promotion \
-			   -Werror=reorder
+# ARCHWARNINGS		 = -Wall \
+			   # -Wextra \
+			   # -Werror \
+			   # -Wdouble-promotion \
+			   # -Wshadow \
+			   # -Wfloat-equal \
+			   # -Wframe-larger-than=1024 \
+			   # -Wpointer-arith \
+			   # -Wlogical-op \
+			   # -Wmissing-declarations \
+			   # -Wpacked \
+			   # -Wno-unused-parameter \
+			   # -Werror=format-security \
+			   # -Werror=array-bounds \
+			   # -Wfatal-errors \
+			   # -Wformat=1 \
+			   # -Werror=unused-but-set-variable \
+			   # -Werror=unused-variable \
+			   # -Werror=double-promotion \
+			   # -Werror=reorder
 #   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
 #   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
 #   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h
index 304ecef47..4ff59a226 100644
--- a/src/examples/publisher/publisher_example.h
+++ b/src/examples/publisher/publisher_example.h
@@ -37,6 +37,7 @@
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
+#pragma once
 #include <px4.h>
 
 class PublisherExample {
@@ -48,5 +49,5 @@ public:
 	int main();
 protected:
 	px4::NodeHandle _n;
-	px4::Publisher * _rc_channels_pub;
+	px4::Publisher<px4::px4_rc_channels> * _rc_channels_pub;
 };
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;
 	}
 
 	/**
diff --git a/src/platforms/px4_publisher.h b/src/platforms/px4_publisher.h
index 7195777f5..afedbbee7 100644
--- a/src/platforms/px4_publisher.h
+++ b/src/platforms/px4_publisher.h
@@ -61,29 +61,44 @@ public:
 	~PublisherBase() {};
 };
 
+/**
+ * Publisher base class, templated with the message type
+ * */
+template <typename T>
+class __EXPORT Publisher
+{
+public:
+	Publisher() {};
+	~Publisher() {};
+
+	virtual int publish(const T &msg)  = 0;
+};
+
 #if defined(__PX4_ROS)
-class Publisher :
-	public PublisherBase
+template <typename T>
+class PublisherROS :
+	public Publisher<T>
 {
 public:
 	/**
 	 * Construct Publisher by providing a ros::Publisher
 	 * @param ros_pub the ros publisher which will be used to perform the publications
 	 */
-	Publisher(ros::Publisher ros_pub) :
-		PublisherBase(),
+	PublisherROS(ros::Publisher ros_pub) :
+		Publisher<T>(),
 		_ros_pub(ros_pub)
 	{}
 
-	~Publisher() {};
+	~PublisherROS() {};
 
 	/** Publishes msg
 	 * @param msg	    the message which is published to the topic
 	 */
-	template <typename T>
-	int publish(T &msg) {
+	int publish(const T &msg)
+	{
 		_ros_pub.publish(msg.data());
-		return 0;}
+		return 0;
+	}
 private:
 	ros::Publisher _ros_pub;	/**< Handle to the ros publisher */
 };
@@ -104,8 +119,9 @@ public:
 	virtual void update() = 0;
 };
 
-class __EXPORT Publisher :
-	public PublisherBase,
+template <typename T>
+class __EXPORT PublisherUORB :
+	public Publisher<T>,
 	public PublisherNode
 
 {
@@ -113,17 +129,17 @@ public:
 	/**
 	 * Construct Publisher by providing orb meta data
 	 */
-	Publisher(uORB::PublicationBase * uorb_pub) :
-		PublisherBase(),
+	PublisherUORB(uORB::PublicationBase * uorb_pub) :
+		Publisher<T>(),
+		PublisherNode(),
 		_uorb_pub(uorb_pub)
 	{}
 
-	~Publisher() {};
+	~PublisherUORB() {};
 
 	/** Publishes msg
 	 * @param msg	    the message which is published to the topic
 	 */
-	template<typename T>
 	int publish(const T &msg)
 	{
 		_uorb_pub->update((void *)&(msg.data()));
-- 
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