From 9ed57211cc684d5135a254d9230c6d82bb092f9b Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Wed, 10 Dec 2014 12:40:36 +0100
Subject: [PATCH] hack to define isspace in px4_defines, add macro for
 subscription without callback

---
 src/platforms/px4_defines.h | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h
index ff302448a5..283dc5a53c 100644
--- a/src/platforms/px4_defines.h
+++ b/src/platforms/px4_defines.h
@@ -96,6 +96,9 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value)
  * Building for NuttX
  */
 #include <platforms/px4_includes.h>
+#ifdef __cplusplus
+#include <functional>
+#endif
 /* Main entry point */
 #define PX4_MAIN_FUNCTION(_prefix) extern "C" __EXPORT int _prefix##_main(int argc, char *argv[])
 
@@ -113,6 +116,7 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value)
 #define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, _obj, std::placeholders::_1), _interval)
 /* Subscribe and providing a function as callback (do not use directly, use PX4_SUBSCRIBE instead) */
 #define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, std::placeholders::_1), _interval)
+#define PX4_SUBSCRIBE_NOCB(_nodehandle, _name, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), nullptr, _interval)
 
 /* Parameter handle datatype */
 #include <systemlib/param/param.h>
@@ -126,10 +130,10 @@ typedef param_t px4_param_t;
 #endif
 
 /* Shortcut for subscribing to topics
- * Overload the PX4_SUBSCRIBE macro to suppport methods and pure functions as callback
+ * Overload the PX4_SUBSCRIBE macro to suppport methods, pure functions as callback and no callback at all
  */
 #define PX4_GET_SUBSCRIBE(_1, _2, _3, _4, _5, NAME, ...) NAME
-#define PX4_SUBSCRIBE(...) PX4_GET_SUBSCRIBE(__VA_ARGS__, PX4_SUBSCRIBE_CBMETH, PX4_SUBSCRIBE_CBFUNC)(__VA_ARGS__)
+#define PX4_SUBSCRIBE(...) PX4_GET_SUBSCRIBE(__VA_ARGS__, PX4_SUBSCRIBE_CBMETH, PX4_SUBSCRIBE_CBFUNC, PX4_SUBSCRIBE_NOCB)(__VA_ARGS__)
 
 /* shortcut for advertising topics */
 #define PX4_ADVERTISE(_nodehandle, _name) _nodehandle.advertise<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name))
@@ -139,3 +143,7 @@ typedef param_t px4_param_t;
 
 /* wrapper for rotation matrices stored in arrays */
 #define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y)
+
+#define isspace(c) \
+  ((c) == ' '  || (c) == '\t' || (c) == '\n' || \
+   (c) == '\r' || (c) == '\f' || c== '\v')