plugins: Make name and messages methods const. (breaking).

WARNING: this change broke external plugins. Please add const to get_name() and get_supported_messages(). Part of #38.
mavlink · Jul 11, 2014 · 715fb59 · 715fb59
1 parent cf1636f
commit 715fb59
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Showing 10 changed files with 51 additions and 20 deletions.
diff --git a/include/mavros/mavros_plugin.h b/include/mavros/mavros_plugin.h
@@ -4,6 +4,8 @@
  * @author Vladimir Ermakov <vooon341@gmail.com>
  *
  * @addtogroup plugin
+ * @{
+ *  @brief MAVROS Plugin system
  */
 /*
  * Copyright 2013 Vladimir Ermakov.
@@ -29,20 +31,49 @@
 #include <mavros/mavconn_interface.h>
 #include <mavros/mavros_uas.h>
 
+#include <boost/noncopyable.hpp>
+
 namespace mavplugin {
 
-class MavRosPlugin
+/**
+ * @brief MAVROS Plugin base class
+ */
+class MavRosPlugin : private boost::noncopyable
 {
 public:
 	virtual ~MavRosPlugin() {};
+
+	/**
+	 * @brief Plugin initializer
+	 *
+	 * @param[in] uas           UAS instance (handles FCU connection and some statuses)
+	 * @param[in] nh            main mavros ros::NodeHandle (private)
+	 * @param[in] diag_updater  main diagnostic updater
+	 */
 	virtual void initialize(UAS &uas,
 			ros::NodeHandle &nh,
 			diagnostic_updater::Updater &diag_updater) = 0;
-	virtual std::string get_name() = 0;
-	virtual std::vector<uint8_t> get_supported_messages() = 0;
+
+	/**
+	 * @brief Plugin name (CamelCase)
+	 */
+	virtual const std::string get_name() const = 0;
+
+	/**
+	 * @brief List of messages supported by message_rx_cb()
+	 */
+	virtual const std::vector<uint8_t> get_supported_messages() const = 0;
+
+	/**
+	 * @brief Message receive callback
+	 */
 	virtual void message_rx_cb(const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) = 0;
 
 protected:
+	/**
+	 * @brief Plugin constructor
+	 * Should not do anything before initialize()
+	 */
 	MavRosPlugin() {};
 };
 

diff --git a/include/mavros/utils.h b/include/mavros/utils.h
@@ -61,7 +61,7 @@ inline bool set_thread_name(boost::thread &thd, const char *name, ...)
 /**
  * @brief Set boost::thread name (std::string variation)
  */
-inline bool set_thread_name(boost::thread &thd, std::string name)
+inline bool set_thread_name(boost::thread &thd, std::string &name)
 {
 	return set_thread_name(thd, name.c_str());
 };

diff --git a/src/plugins/command.cpp b/src/plugins/command.cpp
@@ -70,11 +70,11 @@ class CommandPlugin : public MavRosPlugin {
 		set_home_srv = cmd_nh.advertiseService("set_home", &CommandPlugin::set_home_cb, this);
 	}
 
-	std::string get_name() {
+	std::string const get_name() const {
 		return "Command";
 	}
 
-	std::vector<uint8_t> get_supported_messages() {
+	std::vector<uint8_t> const get_supported_messages() const {
 		return {
 			MAVLINK_MSG_ID_COMMAND_ACK
 		};

diff --git a/src/plugins/dummy.cpp b/src/plugins/dummy.cpp
@@ -53,14 +53,14 @@ class DummyPlugin : public MavRosPlugin {
 	/**
 	 * Returns plugin name (CamelCase)
 	 */
-	std::string get_name() {
+	std::string const get_name() const {
 		return "Dummy";
 	};
 
 	/**
 	 * Returns vector with MSGID processed by message_rx_cb()
 	 */
-	std::vector<uint8_t> get_supported_messages() {
+	std::vector<uint8_t> const get_supported_messages() const {
 		return {
 			MAVLINK_MSG_ID_HEARTBEAT,
 			MAVLINK_MSG_ID_SYS_STATUS,

diff --git a/src/plugins/gps.cpp b/src/plugins/gps.cpp
@@ -97,11 +97,11 @@ class GPSPlugin : public MavRosPlugin {
 		vel_pub = nh.advertise<geometry_msgs::TwistStamped>("gps_vel", 10);
 	}
 
-	std::string get_name() {
+	std::string const get_name() const {
 		return "GPS";
 	}
 
-	std::vector<uint8_t> get_supported_messages() {
+	std::vector<uint8_t> const get_supported_messages() const {
 		return {
 			MAVLINK_MSG_ID_GPS_RAW_INT,
 			MAVLINK_MSG_ID_GPS_STATUS,

diff --git a/src/plugins/imu_pub.cpp b/src/plugins/imu_pub.cpp
@@ -101,11 +101,11 @@ class IMUPubPlugin : public MavRosPlugin {
 		imu_raw_pub = nh.advertise<sensor_msgs::Imu>("imu/data_raw", 10);
 	}
 
-	std::string get_name() {
+	std::string const get_name() const {
 		return "IMUPub";
 	}
 
-	std::vector<uint8_t> get_supported_messages() {
+	std::vector<uint8_t> const get_supported_messages() const {
 		return {
 			MAVLINK_MSG_ID_ATTITUDE,
 			MAVLINK_MSG_ID_RAW_IMU,

diff --git a/src/plugins/param.cpp b/src/plugins/param.cpp
@@ -343,11 +343,11 @@ class ParamPlugin : public MavRosPlugin {
 		uas->sig_connection_changed.connect(boost::bind(&ParamPlugin::connection_cb, this, _1));
 	}
 
-	std::string get_name() {
+	std::string const get_name() const {
 		return "Param";
 	}
 
-	std::vector<uint8_t> get_supported_messages() {
+	std::vector<uint8_t> const get_supported_messages() const {
 		return {
 			MAVLINK_MSG_ID_PARAM_VALUE
 		};

diff --git a/src/plugins/rc_io.cpp b/src/plugins/rc_io.cpp
@@ -58,11 +58,11 @@ class RCIOPlugin : public MavRosPlugin {
 		uas->sig_connection_changed.connect(boost::bind(&RCIOPlugin::connection_cb, this, _1));
 	};
 
-	std::string get_name() {
+	std::string const get_name() const {
 		return "RCIO";
 	};
 
-	std::vector<uint8_t> get_supported_messages() {
+	std::vector<uint8_t> const get_supported_messages() const {
 		return {
 			MAVLINK_MSG_ID_RC_CHANNELS_RAW,
 			MAVLINK_MSG_ID_RC_CHANNELS,

diff --git a/src/plugins/sys_status.cpp b/src/plugins/sys_status.cpp
@@ -340,11 +340,11 @@ class SystemStatusPlugin : public MavRosPlugin
 		rate_srv = nh.advertiseService("set_stream_rate", &SystemStatusPlugin::set_rate_cb, this);
 	}
 
-	std::string get_name() {
+	const std::string get_name() const {
 		return "SystemStatus";
 	}
 
-	std::vector<uint8_t> get_supported_messages() {
+	const std::vector<uint8_t> get_supported_messages() const {
 		return {
 			MAVLINK_MSG_ID_HEARTBEAT,
 			MAVLINK_MSG_ID_SYS_STATUS,

diff --git a/src/plugins/waypoint.cpp b/src/plugins/waypoint.cpp
@@ -176,11 +176,11 @@ class WaypointPlugin : public MavRosPlugin {
 		uas->sig_connection_changed.connect(boost::bind(&WaypointPlugin::connection_cb, this, _1));
 	};
 
-	std::string get_name() {
+	std::string const get_name() const {
 		return "Waypoint";
 	};
 
-	std::vector<uint8_t> get_supported_messages() {
+	std::vector<uint8_t> const get_supported_messages() const {
 		return {
 			MAVLINK_MSG_ID_MISSION_ITEM,
 			MAVLINK_MSG_ID_MISSION_REQUEST,