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subscription class for ros now stores last message to avoid manual copy and support subscription with no callbacks

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Thomas Gubler
2014-12-11 15:04:37 +01:00
parent fd6a5fd38b
commit c68c277c94
5 changed files with 116 additions and 48 deletions
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src/examples/subscriber/subscriber_example.cpp
+3 -4
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@@ -76,8 +76,7 @@ SubscriberExample::SubscriberExample() :
* Also the current value of the _sub_rc_chan subscription is printed
*/
void SubscriberExample::rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) {
//XXX
// PX4_INFO("Subscriber callback: [%llu], value of _sub_rc_chan: [%llu]",
// msg.timestamp_last_valid,
// ((SubscriberPX4<PX4_TOPIC_T(rc_channels)> *)_sub_rc_chan)->timestamp_last_valid);
PX4_INFO("Subscriber callback: [%llu], value of _sub_rc_chan: [%llu]",
msg.timestamp_last_valid,
((PX4_SUBSCRIBER_T(rc_channels) *)_sub_rc_chan)->get_msg().timestamp_last_valid);
}