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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-03 14:43:03 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-03 14:43:03 +0100 |
| commit | 1c79f0cef1f21cff7935ddd7caf048fd96991eea (patch) | |
| tree | 21eb9fddf2ac136e8168b4e03a076c3e1e2ebb2a /src/platforms/px4_defines.h | |
| parent | 6a99b04fb74f6da3faea54c93d234a9b57d7bd0e (diff) | |
| download | px4-firmware-1c79f0cef1f21cff7935ddd7caf048fd96991eea.tar.gz px4-firmware-1c79f0cef1f21cff7935ddd7caf048fd96991eea.tar.bz2 px4-firmware-1c79f0cef1f21cff7935ddd7caf048fd96991eea.zip | |
improve param wrapper for ros, prepare for px4
Diffstat (limited to 'src/platforms/px4_defines.h')
| -rw-r--r-- | src/platforms/px4_defines.h | 17 |
1 files changed, 15 insertions, 2 deletions
diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h index 2d9051aae..a10df858a 100644 --- a/src/platforms/px4_defines.h +++ b/src/platforms/px4_defines.h @@ -51,8 +51,18 @@ #define PX4_TOPIC_T(_name) _name #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); -#define PX4_PARAM_INIT(_name, _default) ros::param::set(_name, _default); -#define PX4_PARAM_GET(_name, _destpt) ros::param::get(_name, *_destpt) +typedef const std::string px4_param_t; +static inline px4_param_t ROS_PARAM_SET(const std::string &name, int32_t value) { + ros::param::set(name, value); + return (px4_param_t)name; +}; +static inline px4_param_t ROS_PARAM_SET(const std::string &name, float value) { + ros::param::set(name, value); + return (px4_param_t)name; +}; +#define PX4_PARAM_INIT(_name, _default) ROS_PARAM_SET(_name, _default) +// #define PX4_PARAM_INIT(_name, _default) ros::param::set(_name, _default) +#define PX4_PARAM_GET(_handle, _destpt) ros::param::get(_handle, *_destpt) #else /* * Building for NuttX @@ -65,6 +75,9 @@ #define PX4_TOPIC_T(_name) _name##_s #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) +typedef param_t px4_param_t +#define PX4_PARAM_INIT(_name, _default) param_find(_name) +#define PX4_PARAM_GET(_handle, _destpt) param_get(_handle, _destpt) #endif /* Overload the PX4_SUBSCRIBE macro to suppport methods and pure functions as callback */ |