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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-11-28 10:18:28 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-11-28 10:18:28 +0100 |
| commit | 59a9648bb60f8c33ca26b5f248d4b28dfc1de139 (patch) | |
| tree | cf4f399a48cefad7f395952d98aea63949872c41 | |
| parent | bfc0a52ea23d18c9ef72690aa511e0feeb5a4176 (diff) | |
| download | px4-firmware-59a9648bb60f8c33ca26b5f248d4b28dfc1de139.tar.gz px4-firmware-59a9648bb60f8c33ca26b5f248d4b28dfc1de139.tar.bz2 px4-firmware-59a9648bb60f8c33ca26b5f248d4b28dfc1de139.zip | |
macro for topic subscription
| -rw-r--r-- | src/examples/subscriber/subscriber.cpp | 7 | ||||
| -rw-r--r-- | src/platforms/px4_defines.h | 10 |
2 files changed, 11 insertions, 6 deletions
diff --git a/src/examples/subscriber/subscriber.cpp b/src/examples/subscriber/subscriber.cpp index 178fca4b5..d6bc0bf37 100644 --- a/src/examples/subscriber/subscriber.cpp +++ b/src/examples/subscriber/subscriber.cpp @@ -86,8 +86,11 @@ PX4_MAIN_FUNCTION(subscriber) // CallbackFunction cbf = [](int i){ return rc_channels_callback(i);}; // std::function<void(const PX4_TOPIC_T(rc_channels)&)> cbf = [](const PX4_TOPIC_T(rc_channels)& msg){ return rc_channels_callback(msg);}; // n.subscribe<PX4_TOPIC_T(rc_channels)>(PX4_TOPIC(rc_channels), cbf); - n.subscribe<PX4_TOPIC_T(rc_channels)>(PX4_TOPIC(rc_channels), - [](const PX4_TOPIC_T(rc_channels)& msg){ return rc_channels_callback(msg);}); + // n.subscribe<PX4_TOPIC_T(rc_channels)>(PX4_TOPIC(rc_channels), + // [](const PX4_TOPIC_T(rc_channels)& msg){ return rc_channels_callback(msg);}); + // n.subscribe<PX4_TOPIC_T(rc_channels)>(PX4_TOPIC(rc_channels), + // [](const PX4_TOPIC_T(rc_channels)& msg){ return rc_channels_callback(msg);}); + PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback); PX4_INFO("subscribed"); /** diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h index d4dc71453..79f305140 100644 --- a/src/platforms/px4_defines.h +++ b/src/platforms/px4_defines.h @@ -48,8 +48,9 @@ #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_TOPIC(_name) #_name +#define PX4_TOPIC_T(_name) _name +#define PX4_SUBSCRIBE(_nodehandle, _name, _cbf) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf); #else /* @@ -62,7 +63,8 @@ #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_TOPIC(_name) ORB_ID(_name) +#define PX4_TOPIC_T(_name) _name##_s +#define PX4_SUBSCRIBE(_nodehandle, _name, _cbf) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), [](const PX4_TOPIC_T(_name)& msg){ return _cbf(msg);}) #endif |