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added a messageplayer prototype for ros

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Thomas Gubler
2015-01-18 18:43:45 +01:00
parent 8121574632
commit 7c3223b860
15 changed files with 496 additions and 172 deletions
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src/examples/publisher/publisher_example.cpp
+14 -5
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@@ -45,7 +45,8 @@ using namespace px4;
PublisherExample::PublisherExample() :
_n(),
_rc_channels_pub(PX4_ADVERTISE(_n, rc_channels))
_rc_channels_pub(_n.advertise<px4_rc_channels>())
// _rc_channels_pub(PX4_ADVERTISE(_n, rc_channels))
{
}
@@ -55,11 +56,19 @@ int PublisherExample::main()
px4::Rate loop_rate(10);
while (px4::ok()) {
PX4_TOPIC_T(rc_channels) msg;
msg.timestamp_last_valid = px4::get_time_micros();
PX4_INFO("%llu", msg.timestamp_last_valid);
// PX4_TOPIC_T(rc_channels) msg;
// msg.timestamp_last_valid = px4::get_time_micros();
// PX4_INFO("%llu", msg.timestamp_last_valid);
// _rc_channels_pub->publish(msg);
//XXX
px4_rc_channels msg2;
msg2.data().timestamp_last_valid = px4::get_time_micros();
PX4_INFO("%llu", msg2.data().timestamp_last_valid);
// msg2.pub->publish2();
_rc_channels_pub->publish(msg2);
_rc_channels_pub->publish(msg);
_n.spinOnce();
loop_rate.sleep();
src/examples/publisher/publisher_example.h
+1
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@@ -48,5 +48,6 @@ public:
int main();
protected:
px4::NodeHandle _n;
// px4::Publisher<px4::px4_rc_channels> * _rc_channels_pub;
px4::Publisher * _rc_channels_pub;
};
src/examples/subscriber/subscriber_example.cpp
+8 -6
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@@ -62,11 +62,13 @@ SubscriberExample::SubscriberExample() :
/* Do some subscriptions */
/* Function */
PX4_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _interval);
/* Class Method */
PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000);
/* No callback */
_sub_rc_chan = PX4_SUBSCRIBE(_n, rc_channels, 500);
// PX4_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _interval);
_n.subscribe<px4_rc_channels>(rc_channels_callback_function);
// [> Class Method <]
// PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000);
// [> No callback <]
// _sub_rc_chan = PX4_SUBSCRIBE(_n, rc_channels, 500);
PX4_INFO("subscribed");
}
@@ -78,5 +80,5 @@ SubscriberExample::SubscriberExample() :
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().timestamp_last_valid);
_sub_rc_chan->get().data().timestamp_last_valid);
}
src/examples/subscriber/subscriber_example.h
+2 -1
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@@ -56,7 +56,8 @@ protected:
int32_t _interval;
px4_param_t _p_test_float;
float _test_float;
px4::PX4_SUBSCRIBER(rc_channels) * _sub_rc_chan;
// px4::PX4_SUBSCRIBER(rc_channels) * _sub_rc_chan;
px4::Subscriber<px4_rc_channels> * _sub_rc_chan;
void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg);