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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-11 15:04:37 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-11 15:04:37 +0100 |
| commit | c68c277c94cacd2a64b634dd9c45ace2a04c2911 (patch) | |
| tree | 20e875d0a0f3c51c69b98f6a82aaefdedf8621bf /src/platforms/px4_defines.h | |
| parent | fd6a5fd38b194300788c597fd1636b2a97e24642 (diff) | |
| download | px4-firmware-c68c277c94cacd2a64b634dd9c45ace2a04c2911.tar.gz px4-firmware-c68c277c94cacd2a64b634dd9c45ace2a04c2911.tar.bz2 px4-firmware-c68c277c94cacd2a64b634dd9c45ace2a04c2911.zip | |
subscription class for ros now stores last message to avoid manual copy and support subscription with no callbacks
Diffstat (limited to 'src/platforms/px4_defines.h')
| -rw-r--r-- | src/platforms/px4_defines.h | 18 |
1 files changed, 13 insertions, 5 deletions
diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h index 819954d0e..fa3ef216a 100644 --- a/src/platforms/px4_defines.h +++ b/src/platforms/px4_defines.h @@ -70,7 +70,7 @@ /* Subscribe and providing a function as callback (do not use directly, use PX4_SUBSCRIBE instead) */ #define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf); /* Subscribe without a callback (do not use directly, use PX4_SUBSCRIBE instead) */ -#define PX4_SUBSCRIBE_NOCB(_nodehandle, _name, _interval) _nodehandle.subscribe<const PX4_TOPIC_T(_name)&>(PX4_TOPIC(_name)); +#define PX4_SUBSCRIBE_NOCB(_nodehandle, _name, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name)); /* Parameter handle datatype */ typedef const char *px4_param_t; @@ -93,6 +93,9 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value) /* Get value of parameter */ #define PX4_PARAM_GET(_handle, _destpt) ros::param::get(_handle, *_destpt) +/* Get a subscriber class type based on the topic name */ +#define PX4_SUBSCRIBER_T(_name) SubscriberROS<PX4_TOPIC_T(_name)> + #else /* * Building for NuttX @@ -130,6 +133,15 @@ typedef param_t px4_param_t; /* Get value of parameter */ #define PX4_PARAM_GET(_handle, _destpt) param_get(_handle, _destpt) + +/* Get a subscriber class type based on the topic name */ +#define PX4_SUBSCRIBER_T(_name) SubscriberUORB<PX4_TOPIC_T(_name)> + +/* XXX this is a hack to resolve conflicts with NuttX headers */ +#define isspace(c) \ + ((c) == ' ' || (c) == '\t' || (c) == '\n' || \ + (c) == '\r' || (c) == '\f' || c== '\v') + #endif /* Shortcut for subscribing to topics @@ -146,7 +158,3 @@ typedef param_t px4_param_t; /* wrapper for rotation matrices stored in arrays */ #define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y) - -#define isspace(c) \ - ((c) == ' ' || (c) == '\t' || (c) == '\n' || \ - (c) == '\r' || (c) == '\f' || c== '\v') |