Merge pull request #10 from mROS-base/mod_args

fix arguments of mros2 APIs and reorder definitions into source code

include/mros2.h

@@ -6,24 +6,54 @@
 #include "lwip.h"
 #include "mros2/logging.h"
 
-// To avoid link error
+/* Statement to avoid link error */
 #ifdef __cplusplus
 extern void* __dso_handle;
 #endif
 
 namespace mros2
 {
 
-class Subscriber
+void init(int argc, char * argv[]);
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+void mros2_init(void *arg);
+#ifdef __cplusplus
+}
+#endif
+
+class Node;
+class Publisher;
+class Subscriber;
+
+/* TODO: move to node.h/cpp? */
+class Node
 {
 public:
-  std::string topic_name;
-  static void callback_handler(
-    void* callee,
-    const rtps::ReaderCacheChange& cacheChange
+  static Node create_node(
+    std::string node_name
   );
-  void (*cb_fp)(intptr_t);
+
+  template <class T>
+  Publisher create_publisher(
+    std::string topic_name,
+    int qos
+  );
+
+  template <class T>
+  Subscriber create_subscription(
+    std::string topic_name,
+    int qos,
+    void (*fp)(T)
+  );
+
+  std::string node_name;
+  rtps::Participant* part;
+
 private:
+
 };
 
 class Publisher
@@ -34,52 +64,28 @@ class Publisher
   void publish(T& msg);
 };
 
-class Node//TODO: move to node.h/cpp?
+class Subscriber
 {
 public:
-  static Node create_node();
-  template <class T>
-  Subscriber create_subscription(
-    std::string node_name,
-    int qos,
-    void (*fp)(T)
-  );
-  template <class T>
-  Publisher create_publisher(
-    std::string node_name,
-    int qos
+  std::string topic_name;
+  static void callback_handler(
+    void* callee,
+    const rtps::ReaderCacheChange& cacheChange
   );
-  std::string node_name;
-  rtps::Participant* part;
-
+  void (*cb_fp)(intptr_t);
 private:
-
 };
 
-
-void init(int argc, char *argv);
 void spin();
 
-void setTrue(void *args);
-void setTrue(void *args);
-void message_callback(void* callee, const rtps::ReaderCacheChange& cacheChange);
-void message_callback(void* callee, const rtps::ReaderCacheChange& cacheChange);
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-void mros2_init(void *arg);
-#ifdef __cplusplus
-}
-#endif
-}//namespace mros2
+}  /* namespace mros2 */
 
 namespace message_traits
 {
 template <class T>
 struct TypeName {
 static const char* value();
 };
-}// namespace message_traits
-#endif //MROS2_MROS2_H
+}  /* namespace message_traits */
 
+#endif /* MROS2_MROS2_H */