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multiplatform: re-enable interval functionality (for uorb)

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Thomas Gubler
2015-01-23 09:02:04 +01:00
parent af943cf16a
commit da7ad9a332
2 changed files with 12 additions and 9 deletions
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src/examples/subscriber/subscriber_example.cpp
+3 -3
View File
@@ -62,13 +62,13 @@ SubscriberExample::SubscriberExample() :
/* Do some subscriptions */
/* Function */
_n.subscribe<px4_rc_channels>(rc_channels_callback_function); //ROS version
_n.subscribe<px4_rc_channels>(rc_channels_callback_function, _interval);
/* No callback */
_sub_rc_chan = _n.subscribe<px4_rc_channels>();
_sub_rc_chan = _n.subscribe<px4_rc_channels>(500);
/* Class Method */
_n.subscribe<px4_rc_channels>(&SubscriberExample::rc_channels_callback, this);
_n.subscribe<px4_rc_channels>(&SubscriberExample::rc_channels_callback, this, 1000);
PX4_INFO("subscribed");
}
src/platforms/px4_nodehandle.h
+9 -6
View File
@@ -79,7 +79,7 @@ public:
* @param fb Callback, executed on receiving a new message
*/
template<typename T>
Subscriber<T> *subscribe(void(*fp)(const T &))
Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval)
{
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, std::placeholders::_1));
_subs.push_back(sub);
@@ -92,7 +92,7 @@ public:
* @param obj pointer class instance
*/
template<typename T, typename C>
Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj)
Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval)
{
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, obj, std::placeholders::_1));
_subs.push_back(sub);
@@ -103,7 +103,7 @@ public:
* Subscribe with no callback, just the latest value is stored on updates
*/
template<typename T>
Subscriber<T> *subscribe()
Subscriber<T> *subscribe(unsigned interval)
{
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this);
_subs.push_back(sub);
@@ -186,8 +186,9 @@ public:
*/
template<typename T>
Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval=10) //XXX interval
Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval)
{
(void)interval;
SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(interval, std::bind(fp, std::placeholders::_1));
update_sub_min_interval(interval, sub_px4);
_subs.add((SubscriberNode *)sub_px4);
@@ -200,8 +201,9 @@ public:
* @param obj pointer class instance
*/
template<typename T, typename C>
Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval=10)
Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval)
{
(void)interval;
SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(interval, std::bind(fp, obj, std::placeholders::_1));
update_sub_min_interval(interval, sub_px4);
_subs.add((SubscriberNode *)sub_px4);
@@ -214,8 +216,9 @@ public:
*/
template<typename T>
Subscriber<T> *subscribe(unsigned interval=10) //XXX interval
Subscriber<T> *subscribe(unsigned interval)
{
(void)interval;
SubscriberUORB<T> *sub_px4 = new SubscriberUORB<T>(interval);
update_sub_min_interval(interval, sub_px4);
_subs.add((SubscriberNode *)sub_px4);