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add support for subcription method callbacks for ros and nuttx

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This commit is contained in:
Thomas Gubler
2014-11-28 23:09:45 +01:00
parent 9abc8e26b7
commit caa61a4fdc
3 changed files with 40 additions and 14 deletions
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src/examples/subscriber/subscriber.cpp
+23 -7
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@@ -32,21 +32,29 @@ using namespace px4;
/**
* This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
*/
void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg)
{
void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) {
PX4_INFO("I heard: [%llu]", msg.timestamp_last_valid);
}
void rc_channels_callback2(const PX4_TOPIC_T(rc_channels) &msg)
{
PX4_INFO("I heard2: [%llu]", msg.timestamp_last_valid);
void rc_channels_callback2(const PX4_TOPIC_T(rc_channels) &msg) {
PX4_INFO("I heard(2): [%llu]", msg.timestamp_last_valid);
}
class RCHandler {
public:
void callback(const PX4_TOPIC_T(rc_channels) &msg) {
PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp_last_valid);
}
};
RCHandler rchandler;
namespace px4
{
bool task_should_exit = false;
}
PX4_MAIN_FUNCTION(subscriber)
{
PX4_MAIN_FUNCTION(subscriber) {
/**
* The ros::init() function needs to see argc and argv so that it can perform
* any ROS arguments and name remapping that were provided at the command line. For programmatic
@@ -83,6 +91,14 @@ PX4_MAIN_FUNCTION(subscriber)
*/
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback, 100);
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback2, 1000);
//1
// PX4_SUBSCRIBE(n, rc_channels, callee.rc_channels_callback, , 1000);
//2
// PX4_SUBSCRIBE(n, rc_channels, rchandler.callback, &rchandler, 1000);
//3 for bind
PX4_SUBSCRIBE(n, rc_channels, RCHandler::callback, rchandler, 1000);
// ros::NodeHandle n2;
// n2.subscribe("chatter", 1000, &RCHandler::callback, &rchandler);
PX4_INFO("subscribed");
/**