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WIP, make class based and extended subscriber/publisher example compile for ros

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Thomas Gubler
2014-12-11 10:51:19 +01:00
parent a1685ed6d0
commit 173b1b2a8b
9 changed files with 50 additions and 19 deletions
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src/platforms/px4_defines.h
+5 -2
View File
@@ -66,9 +66,11 @@
#define PX4_TOPIC_T(_name) _name
/* Subscribe and providing a class method as callback (do not use directly, use PX4_SUBSCRIBE instead) */
#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, &_obj);
#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _objptr, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, _objptr);
/* 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(_name), _cbf);
/* Subscribe without a callback (do not use directly, use PX4_SUBSCRIBE instead) */
#define PX4_SUBSCRIBE_NOCB(_nodehandle, _name, _interval) _nodehandle.subscribe<const PX4_TOPIC_T(_name)&>(PX4_TOPIC(_name));
/* Parameter handle datatype */
typedef const char *px4_param_t;
@@ -113,9 +115,10 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value)
#define PX4_TOPIC_T(_name) _name##_s
/* Subscribe and providing a class method as callback (do not use directly, use PX4_SUBSCRIBE instead) */
#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)
#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _objptr, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, _objptr, 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)
/* Subscribe without a callback (do not use directly, use PX4_SUBSCRIBE instead) */
#define PX4_SUBSCRIBE_NOCB(_nodehandle, _name, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), nullptr, _interval)
/* Parameter handle datatype */
src/platforms/px4_nodehandle.h
+13
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@@ -99,6 +99,19 @@ public:
return sub;
}
/**
* Subscribe with no callback, just the latest value is stored on updates
* @param topic Name of the topic
*/
template<typename M>
Subscriber *subscribe(const char *topic)
{
//XXX missing implementation
// Subscriber *sub = new Subscriber(ros_sub);
// _subs.push_back(sub);
return (Subscriber *)NULL;
}
/**
* Advertise topic
* @param topic Name of the topic