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add support for subcription method callbacks for ros and nuttx

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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/platforms/px4_defines.h
+8 -7
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@@ -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__)