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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-26 13:58:59 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-26 13:59:15 +0100 |
| commit | 5ce3028892a36176ddc8e3aa30d11e4a520b768e (patch) | |
| tree | 18045c7a2fd60390a9279c7f5b4ce2f0c4d58d48 | |
| parent | 5dacb36d277fe107979555c2a50131944f4c76c4 (diff) | |
| download | px4-firmware-ros_messagelayer_merge_attctl_functionptr_nuttx_bringup.tar.gz px4-firmware-ros_messagelayer_merge_attctl_functionptr_nuttx_bringup.tar.bz2 px4-firmware-ros_messagelayer_merge_attctl_functionptr_nuttx_bringup.zip | |
WIP, re-add commented coderos_messagelayer_merge_attctl_functionptr_nuttx_bringup
| -rw-r--r-- | src/examples/subscriber/subscriber_example.cpp | 2 | ||||
| -rw-r--r-- | src/platforms/px4_nodehandle.h | 27 | ||||
| -rw-r--r-- | src/platforms/px4_subscriber.h | 4 |
3 files changed, 15 insertions, 18 deletions
diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp index bc0975a2b..79715a234 100644 --- a/src/examples/subscriber/subscriber_example.cpp +++ b/src/examples/subscriber/subscriber_example.cpp @@ -75,7 +75,7 @@ SubscriberExample::SubscriberExample() : _n.subscribe<px4_vehicle_attitude>(&SubscriberExample::vehicle_attitude_callback, this, 1000); /* Class Method 3 */ - // _n.subscribe<px4_vehicle_rates_setpoint>(&SubscriberExample::vehicle_rates_setpoint_callback, this, 1000); + _n.subscribe<px4_vehicle_rates_setpoint>(&SubscriberExample::vehicle_rates_setpoint_callback, this, 1000); PX4_INFO("subscribed"); } diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h index 70ec1cfe0..83a3e422d 100644 --- a/src/platforms/px4_nodehandle.h +++ b/src/platforms/px4_nodehandle.h @@ -187,14 +187,13 @@ public: */ template<typename T> - // Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval) - void subscribe(void(*fp)(const T &), unsigned 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); - // return (Subscriber<T> *)sub_px4; + update_sub_min_interval(interval, sub_px4); + _subs.add((SubscriberNode *)sub_px4); + return (Subscriber<T> *)sub_px4; } /** @@ -203,14 +202,13 @@ public: * @param obj pointer class instance */ template<typename T, typename C> - // Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval) - void subscribe(void(C::*fp)(const T &), C *obj, unsigned interval) + 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); - // return (Subscriber<T> *)sub_px4; + update_sub_min_interval(interval, sub_px4); + _subs.add((SubscriberNode *)sub_px4); + return (Subscriber<T> *)sub_px4; } /** @@ -219,14 +217,13 @@ public: */ template<typename T> - // Subscriber<T> *subscribe(unsigned interval) - void subscribe(unsigned 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); - // return (Subscriber<T> *)sub_px4; + update_sub_min_interval(interval, sub_px4); + _subs.add((SubscriberNode *)sub_px4); + return (Subscriber<T> *)sub_px4; } /** diff --git a/src/platforms/px4_subscriber.h b/src/platforms/px4_subscriber.h index 9f32966dc..6ca35b173 100644 --- a/src/platforms/px4_subscriber.h +++ b/src/platforms/px4_subscriber.h @@ -244,8 +244,8 @@ public: */ SubscriberUORBCallback(unsigned interval, std::function<void(const T &)> cbf) : - SubscriberUORB<T>(interval)//, - // _cbf(cbf) + SubscriberUORB<T>(interval), + _cbf(cbf) {} virtual ~SubscriberUORBCallback() {}; |