fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-13 15:40:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

add support for subcription method callbacks for ros and nuttx

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/px4_defines.h
+8 -7
View File
@@ -44,27 +44,28 @@
* Building for running within the ROS environment
*/
#define __EXPORT
// #define PX4_MAIN_FUNCTION(_prefix)
#define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv)
#define PX4_WARN ROS_WARN
#define PX4_INFO ROS_INFO
#define PX4_TOPIC(_name) #_name
#define PX4_TOPIC_T(_name) _name
#define PX4_SUBSCRIBE(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf);
#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, &_obj);
#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf);
#else
/*
* Building for NuttX
*/
// #define PX4_MAIN_FUNCTION(_prefix) __EXPORT int _prefix##_main(int argc, char **argv)() { return main(argc, argv); }
// #define PX4_MAIN_FUNCTION(_prefix) extern "C" __EXPORT int _prefix##_main(int argc, char *argv[]) { return main(argc, argv); }
#define PX4_MAIN_FUNCTION(_prefix) extern "C" __EXPORT int _prefix##_main(int argc, char *argv[])
#define PX4_WARN warnx
#define PX4_WARN warnx
#define PX4_INFO warnx
#define PX4_TOPIC(_name) ORB_ID(_name)
#define PX4_TOPIC_T(_name) _name##_s
#define PX4_SUBSCRIBE(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), [](const PX4_TOPIC_T(_name)& msg){ return _cbf(msg);}, _interval)
#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, _obj, std::placeholders::_1), _interval)
#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, std::placeholders::_1), _interval)
#endif
/* Overload the PX4_SUBSCRIBE macro to suppport methods and pure functions as callback */
#define PX4_GET_SUBSCRIBE(_1, _2, _3, _4, _5, NAME, ...) NAME
#define PX4_SUBSCRIBE(...) PX4_GET_SUBSCRIBE(__VA_ARGS__, PX4_SUBSCRIBE_CBMETH, PX4_SUBSCRIBE_CBFUNC)(__VA_ARGS__)
src/platforms/px4_nodehandle.h
+9
View File
@@ -71,6 +71,7 @@ public:
//XXX empty lists
};
/* Constructor with callback to function */
template<typename M>
Subscriber * subscribe(const char *topic, void(*fp)(M)) {
ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, fp);
@@ -78,6 +79,14 @@ public:
_subs.push_back(sub);
return sub;
}
/* Constructor with callback to class method */
template<typename M, typename T>
Subscriber * subscribe(const char *topic, void(T::*fp)(M), T *obj) {
ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, fp, obj);
Subscriber * sub = new Subscriber(ros_sub);
_subs.push_back(sub);
return sub;
}
template<typename M>
Publisher * advertise(const char *topic) {