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added a messageplayer prototype for ros

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Thomas Gubler
2015-01-21 14:26:22 +01:00
parent 8121574632
commit 7c3223b860
15 changed files with 496 additions and 172 deletions
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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);