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correctly handle interval, call callback only when topic updated, add example for 2 topics

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This commit is contained in:
Thomas Gubler
2014-11-28 16:30:12 +01:00
parent a9c1e4ad61
commit 9abc8e26b7
3 changed files with 12 additions and 6 deletions
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src/examples/subscriber/subscriber.cpp
+6 -5
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@@ -36,10 +36,10 @@ void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg)
{
PX4_INFO("I heard: [%llu]", msg.timestamp_last_valid);
}
// void rc_channels_callback(int i)
// {
// PX4_INFO("I heard: [%d]", i);
// }
void rc_channels_callback2(const PX4_TOPIC_T(rc_channels) &msg)
{
PX4_INFO("I heard2: [%llu]", msg.timestamp_last_valid);
}
namespace px4
{
bool task_should_exit = false;
@@ -81,7 +81,8 @@ PX4_MAIN_FUNCTION(subscriber)
* is the number of messages that will be buffered up before beginning to throw
* away the oldest ones.
*/
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback, 1000);
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback, 100);
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback2, 1000);
PX4_INFO("subscribed");
/**
src/platforms/px4_nodehandle.h
+1 -1
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@@ -114,7 +114,7 @@ public:
SubscriberPX4<M> *sub_px4 = new SubscriberPX4<M>(meta, interval, callback, &_subs);
/* Check if this is the smallest interval so far and update _sub_min_interval */
if (_sub_min_interval == nullptr || _sub_min_interval->getInterval() < sub_px4->getInterval()) {
if (_sub_min_interval == nullptr || _sub_min_interval->getInterval() > sub_px4->getInterval()) {
_sub_min_interval = sub_px4;
}
return (Subscriber*)sub_px4;
src/platforms/px4_subscriber.h
+5
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@@ -89,6 +89,11 @@ public:
~SubscriberPX4() {};
void update() {
if (!uORB::Subscription<M>::updated()) {
/* Topic not updated, do not call callback */
return;
}
/* get latest data */
uORB::Subscription<M>::update();