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macro for topic subscription

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This commit is contained in:
Thomas Gubler
2014-11-28 10:18:28 +01:00
parent bfc0a52ea2
commit 59a9648bb6
2 changed files with 11 additions and 6 deletions
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src/platforms/px4_defines.h
+6 -4
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@@ -48,8 +48,9 @@
#define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv)
#define PX4_WARN ROS_WARN
#define PX4_INFO ROS_INFO
#define PX4_TOPIC(name) #name
#define PX4_TOPIC_T(name) name
#define PX4_TOPIC(_name) #_name
#define PX4_TOPIC_T(_name) _name
#define PX4_SUBSCRIBE(_nodehandle, _name, _cbf) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf);
#else
/*
@@ -62,7 +63,8 @@
#define PX4_WARN warnx
#define PX4_WARN warnx
#define PX4_INFO warnx
#define PX4_TOPIC(name) ORB_ID(name)
#define PX4_TOPIC_T(name) name##_s
#define PX4_TOPIC(_name) ORB_ID(_name)
#define PX4_TOPIC_T(_name) _name##_s
#define PX4_SUBSCRIBE(_nodehandle, _name, _cbf) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), [](const PX4_TOPIC_T(_name)& msg){ return _cbf(msg);})
#endif