From 2af44f5995dd121a7ce2aefd3ab1c7d8dcf3fb8d Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Thu, 22 Jan 2015 08:10:08 +0100
Subject: [PATCH] multiplatform: introduce PublisherNode class for uorb for
 more consistency

---
 src/platforms/px4_nodehandle.h |  6 +++---
 src/platforms/px4_publisher.h  | 18 +++++++++++++++++-
 src/platforms/px4_subscriber.h |  3 ---
 3 files changed, 20 insertions(+), 7 deletions(-)

diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h
index 634e5e5db6..8fafa168a2 100644
--- a/src/platforms/px4_nodehandle.h
+++ b/src/platforms/px4_nodehandle.h
@@ -176,7 +176,7 @@ public:
 		}
 
 		/* Empty publications list */
-		Publisher *pub = _pubs.getHead();
+		PublisherNode *pub = _pubs.getHead();
 		count = 0;
 
 		while (pub != nullptr) {
@@ -185,7 +185,7 @@ public:
 				break;
 			}
 
-			Publisher *sib = pub->getSibling();
+			PublisherNode *sib = pub->getSibling();
 			delete pub;
 			pub = sib;
 		}
@@ -294,7 +294,7 @@ private:
 	static const uint16_t kMaxSubscriptions = 100;
 	static const uint16_t kMaxPublications = 100;
 	List<SubscriberNode *> _subs;		/**< Subcriptions of node */
-	List<Publisher *> _pubs;		/**< Publications of node */
+	List<PublisherNode *> _pubs;		/**< Publications of node */
 	SubscriberNode *_sub_min_interval;	/**< Points to the sub wtih the smallest interval
 							  of all Subscriptions in _subs*/
 };
diff --git a/src/platforms/px4_publisher.h b/src/platforms/px4_publisher.h
index 9115545030..7195777f5b 100644
--- a/src/platforms/px4_publisher.h
+++ b/src/platforms/px4_publisher.h
@@ -88,9 +88,25 @@ private:
 	ros::Publisher _ros_pub;	/**< Handle to the ros publisher */
 };
 #else
+/**
+ * Because we maintain a list of publishers we need a node class
+ */
+class __EXPORT PublisherNode :
+	public ListNode<PublisherNode *>
+{
+public:
+	PublisherNode() :
+		ListNode()
+	{}
+
+	virtual ~PublisherNode() {}
+
+	virtual void update() = 0;
+};
+
 class __EXPORT Publisher :
 	public PublisherBase,
-	public ListNode<Publisher *>
+	public PublisherNode
 
 {
 public:
diff --git a/src/platforms/px4_subscriber.h b/src/platforms/px4_subscriber.h
index 2b289771bb..d03b3edee7 100644
--- a/src/platforms/px4_subscriber.h
+++ b/src/platforms/px4_subscriber.h
@@ -154,8 +154,6 @@ protected:
 };
 
 #else // Building for NuttX
-
-
 /**
  * Because we maintain a list of subscribers we need a node class
  */
@@ -181,7 +179,6 @@ protected:
 
 };
 
-
 /**
  * Subscriber class that is templated with the uorb subscription message type
  */