From ee534b827a51a7356e565b665e280f765bd8d302 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Wed, 26 Nov 2014 13:18:28 +0100
Subject: move spin functions to nodehandle

---
 src/examples/publisher/publisher.cpp   |  2 +-
 src/examples/subscriber/subscriber.cpp |  2 +-
 src/platforms/px4_middleware.h         |  4 ----
 src/platforms/px4_nodehandle.h         |  5 +++++
 src/platforms/ros/px4_ros_impl.cpp     | 10 ----------
 5 files changed, 7 insertions(+), 16 deletions(-)

(limited to 'src')

diff --git a/src/examples/publisher/publisher.cpp b/src/examples/publisher/publisher.cpp
index 5ee8b459b..521c7c838 100644
--- a/src/examples/publisher/publisher.cpp
+++ b/src/examples/publisher/publisher.cpp
@@ -90,7 +90,7 @@ PX4_MAIN_FUNCTION(publisher)
 		 */
 		rc_channels_pub->publish(msg);
 
-		px4::spin_once();
+		n.spinOnce();
 
 		loop_rate.sleep();
 		++count;
diff --git a/src/examples/subscriber/subscriber.cpp b/src/examples/subscriber/subscriber.cpp
index 093697d8e..0d0a81d7e 100644
--- a/src/examples/subscriber/subscriber.cpp
+++ b/src/examples/subscriber/subscriber.cpp
@@ -85,7 +85,7 @@ PX4_MAIN_FUNCTION(subscriber)
 	 * callbacks will be called from within this thread (the main one).  px4::spin()
 	 * will exit when Ctrl-C is pressed, or the node is shutdown by the master.
 	 */
-	px4::spin();
+	n.spin();
 
 	return 0;
 }
diff --git a/src/platforms/px4_middleware.h b/src/platforms/px4_middleware.h
index a09d9ac58..8a83f1af4 100644
--- a/src/platforms/px4_middleware.h
+++ b/src/platforms/px4_middleware.h
@@ -51,10 +51,6 @@ __EXPORT uint64_t get_time_micros();
 
 __EXPORT bool ok();
 
-__EXPORT void spin_once();
-
-__EXPORT void spin();
-
 class Rate
 {
 
diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h
index 972792d53..b665f3fe7 100644
--- a/src/platforms/px4_nodehandle.h
+++ b/src/platforms/px4_nodehandle.h
@@ -53,6 +53,7 @@
 
 namespace px4
 {
+//XXX create abstract base class
 #if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
 class NodeHandle :
 	private ros::NodeHandle
@@ -83,6 +84,10 @@ public:
 		_pubs.push_back(pub);
 		return pub;
 	}
+
+	void spin() { ros::spin(); }
+
+	void spinOnce() { ros::spinOnce(); }
 private:
 	static const uint32_t kQueueSizeDefault = 1000;
 	std::list<Subscriber*> _subs;
diff --git a/src/platforms/ros/px4_ros_impl.cpp b/src/platforms/ros/px4_ros_impl.cpp
index eda17e5a9..3aa976138 100644
--- a/src/platforms/ros/px4_ros_impl.cpp
+++ b/src/platforms/ros/px4_ros_impl.cpp
@@ -58,14 +58,4 @@ bool ok()
 	return ros::ok();
 }
 
-void spin_once()
-{
-	ros::spinOnce();
-}
-
-void spin()
-{
-	ros::spin();
-}
-
 }
-- 
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