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ros wrapper port callback to methods and subscriber without callback

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This commit is contained in:
Thomas Gubler
2015-01-22 16:47:28 +01:00
parent 8c4fce3654
commit 49d41773fc
4 changed files with 34 additions and 34 deletions
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src/examples/subscriber/subscriber_example.cpp
+11 -9
View File
@@ -64,10 +64,11 @@ SubscriberExample::SubscriberExample() :
/* Function */
_n.subscribe<px4_rc_channels>(rc_channels_callback_function); //ROS version
// [> Class Method <]
// PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000);
// [> No callback <]
// _sub_rc_chan = PX4_SUBSCRIBE(_n, rc_channels, 500);
/* No callback */
_sub_rc_chan = _n.subscribe<px4_rc_channels>();
/* Class Method */
_n.subscribe<px4_rc_channels>(&SubscriberExample::rc_channels_callback, this);
PX4_INFO("subscribed");
}
@@ -76,8 +77,9 @@ SubscriberExample::SubscriberExample() :
* This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
* Also the current value of the _sub_rc_chan subscription is printed
*/
// void SubscriberExample::rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) {
// PX4_INFO("Subscriber callback: [%llu], value of _sub_rc_chan: [%llu]",
// msg.timestamp_last_valid,
// _sub_rc_chan->get().data().timestamp_last_valid);
// }
void SubscriberExample::rc_channels_callback(const px4_rc_channels &msg) {
PX4_INFO("Callback (method): [%llu]",
msg.data().timestamp_last_valid);
PX4_INFO("Callback (method): value of _sub_rc_chan: [%llu]",
_sub_rc_chan->get().data().timestamp_last_valid);
}
src/examples/subscriber/subscriber_example.h
+1 -1
View File
@@ -58,7 +58,7 @@ protected:
float _test_float;
px4::Subscriber<px4_rc_channels> * _sub_rc_chan;
// void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg);
void rc_channels_callback(const px4_rc_channels &msg);
};