fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 04:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

ros wrapper port callback to methods and subscriber without callback

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/px4_nodehandle.h
+21 -22
View File
@@ -91,34 +91,33 @@ public:
/**
* Subscribe with callback to class method
* @param topic Name of the topic
* @param fb Callback, executed on receiving a new message
* @param obj pointer class instance
*/
// template<typename M, typename T>
// Subscriber<M> *subscribe(const char *topic, void(T::*fp)(const M &), T *obj)
// {
// SubscriberBase *sub = new SubscriberROS<M>(std::bind(fp, obj, std::placeholders::_1));
// ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback,
// (SubscriberROS<M> *)sub);
// ((SubscriberROS<M> *)sub)->set_ros_sub(ros_sub);
// _subs.push_back(sub);
// return (Subscriber<M> *)sub;
// }
template<typename T, typename C>
Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj)
{
SubscriberBase *sub = new SubscriberROS<T>(std::bind(fp, obj, std::placeholders::_1));
ros::Subscriber ros_sub = ros::NodeHandle::subscribe(T::handle(), kQueueSizeDefault,
&SubscriberROS<T>::callback, (SubscriberROS<T> *)sub);
((SubscriberROS<T> *)sub)->set_ros_sub(ros_sub);
_subs.push_back(sub);
return (Subscriber<T> *)sub;
}
/**
* Subscribe with no callback, just the latest value is stored on updates
* @param topic Name of the topic
*/
// template<typename M>
// Subscriber<M> *subscribe(const char *topic)
// {
// SubscriberBase *sub = new SubscriberROS<M>();
// ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback,
// (SubscriberROS<M> *)sub);
// ((SubscriberROS<M> *)sub)->set_ros_sub(ros_sub);
// _subs.push_back(sub);
// return (Subscriber<M> *)sub;
// }
template<typename T>
Subscriber<T> *subscribe()
{
SubscriberBase *sub = new SubscriberROS<T>();
ros::Subscriber ros_sub = ros::NodeHandle::subscribe(T::handle(), kQueueSizeDefault,
&SubscriberROS<T>::callback, (SubscriberROS<T> *)sub);
((SubscriberROS<T> *)sub)->set_ros_sub(ros_sub);
_subs.push_back(sub);
return (Subscriber<T> *)sub;
}
/**
* Advertise topic
src/platforms/px4_subscriber.h
+1 -2
View File
@@ -130,11 +130,10 @@ protected:
void callback(const typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &msg)
{
/* Store data */
this->_msg_current = (T)msg;
this->_msg_current.data() = msg;
/* Call callback */
if (_cbf != NULL) {
// _cbf(_msg_current);
_cbf(this->get());
}