move spin functions to nodehandle

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;

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;
 }

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
 {
 

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;

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();
-}
-
 }