added a messageplayer prototype for ros

4 files changed, 25 insertions, 12 deletions

diff --git a/src/examples/publisher/publisher_example.cpp b/src/examples/publisher/publisher_example.cpp
index 2e5779ebe..e85e42b38 100644
--- a/src/examples/publisher/publisher_example.cpp
+++ b/src/examples/publisher/publisher_example.cpp
@@ -45,7 +45,8 @@ using namespace px4;
 
 PublisherExample::PublisherExample() :
 	_n(),
-	_rc_channels_pub(PX4_ADVERTISE(_n, rc_channels))
+	_rc_channels_pub(_n.advertise<px4_rc_channels>())
+	// _rc_channels_pub(PX4_ADVERTISE(_n, rc_channels))
 {
 
 }
@@ -55,11 +56,19 @@ int PublisherExample::main()
 	px4::Rate loop_rate(10);
 
 	while (px4::ok()) {
-		PX4_TOPIC_T(rc_channels) msg;
-		msg.timestamp_last_valid = px4::get_time_micros();
-		PX4_INFO("%llu", msg.timestamp_last_valid);
+		// PX4_TOPIC_T(rc_channels) msg;
+		// msg.timestamp_last_valid = px4::get_time_micros();
+		// PX4_INFO("%llu", msg.timestamp_last_valid);
+
+		// _rc_channels_pub->publish(msg);
+
+		//XXX
+		px4_rc_channels msg2;
+		msg2.data().timestamp_last_valid = px4::get_time_micros();
+		PX4_INFO("%llu", msg2.data().timestamp_last_valid);
+		// msg2.pub->publish2();
+		_rc_channels_pub->publish(msg2);
 
-		_rc_channels_pub->publish(msg);
 
 		_n.spinOnce();
 		loop_rate.sleep();
diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h
index 304ecef47..86586d0d3 100644
--- a/src/examples/publisher/publisher_example.h
+++ b/src/examples/publisher/publisher_example.h
@@ -48,5 +48,6 @@ public:
 	int main();
 protected:
 	px4::NodeHandle _n;
+	// px4::Publisher<px4::px4_rc_channels> * _rc_channels_pub;
 	px4::Publisher * _rc_channels_pub;
 };
diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp
index 3c80561ca..1c8f4c62b 100644
--- a/src/examples/subscriber/subscriber_example.cpp
+++ b/src/examples/subscriber/subscriber_example.cpp
@@ -62,11 +62,13 @@ SubscriberExample::SubscriberExample() :
 
 	/* Do some subscriptions */
 	/* Function */
-	PX4_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _interval);
-	/* Class Method */
-	PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000);
-	/* No callback */
-	_sub_rc_chan = PX4_SUBSCRIBE(_n, rc_channels, 500);
+	// PX4_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _interval);
+	_n.subscribe<px4_rc_channels>(rc_channels_callback_function);
+
+	// [> Class Method <]
+	// PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000);
+	// [> No callback <]
+	// _sub_rc_chan = PX4_SUBSCRIBE(_n, rc_channels, 500);
 
 	PX4_INFO("subscribed");
 }
@@ -78,5 +80,5 @@ SubscriberExample::SubscriberExample() :
 void SubscriberExample::rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) {
 	PX4_INFO("Subscriber callback: [%llu], value of _sub_rc_chan: [%llu]",
 			msg.timestamp_last_valid,
-			_sub_rc_chan->get().timestamp_last_valid);
+			_sub_rc_chan->get().data().timestamp_last_valid);
 }
diff --git a/src/examples/subscriber/subscriber_example.h b/src/examples/subscriber/subscriber_example.h
index eb2c956e0..b52ae991b 100644
--- a/src/examples/subscriber/subscriber_example.h
+++ b/src/examples/subscriber/subscriber_example.h
@@ -56,7 +56,8 @@ protected:
 	int32_t _interval;
 	px4_param_t _p_test_float;
 	float _test_float;
-	px4::PX4_SUBSCRIBER(rc_channels) * _sub_rc_chan;
+	// px4::PX4_SUBSCRIBER(rc_channels) * _sub_rc_chan;
+	px4::Subscriber<px4_rc_channels> * _sub_rc_chan;
 
 	void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg);