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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-23 09:02:04 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-23 09:02:04 +0100 |
| commit | da7ad9a3329db43144b5ca3e60c6c56d22fdc3d4 (patch) | |
| tree | 841ff98c149f1df687838f123ca096336e9399a7 /src/platforms | |
| parent | af943cf16adb79ab33097bd560a85fee203a5215 (diff) | |
| download | px4-firmware-da7ad9a3329db43144b5ca3e60c6c56d22fdc3d4.tar.gz px4-firmware-da7ad9a3329db43144b5ca3e60c6c56d22fdc3d4.tar.bz2 px4-firmware-da7ad9a3329db43144b5ca3e60c6c56d22fdc3d4.zip | |
multiplatform: re-enable interval functionality (for uorb)
Diffstat (limited to 'src/platforms')
| -rw-r--r-- | src/platforms/px4_nodehandle.h | 15 |
1 files changed, 9 insertions, 6 deletions
diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h index 2f92ead5a..80be9ec52 100644 --- a/src/platforms/px4_nodehandle.h +++ b/src/platforms/px4_nodehandle.h @@ -79,7 +79,7 @@ public: * @param fb Callback, executed on receiving a new message */ template<typename T> - Subscriber<T> *subscribe(void(*fp)(const T &)) + Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval) { SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, std::placeholders::_1)); _subs.push_back(sub); @@ -92,7 +92,7 @@ public: * @param obj pointer class instance */ template<typename T, typename C> - Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj) + Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval) { SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, obj, std::placeholders::_1)); _subs.push_back(sub); @@ -103,7 +103,7 @@ public: * Subscribe with no callback, just the latest value is stored on updates */ template<typename T> - Subscriber<T> *subscribe() + Subscriber<T> *subscribe(unsigned interval) { SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this); _subs.push_back(sub); @@ -186,8 +186,9 @@ public: */ template<typename T> - Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval=10) //XXX 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); @@ -200,8 +201,9 @@ public: * @param obj pointer class instance */ template<typename T, typename C> - Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval=10) + 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); @@ -214,8 +216,9 @@ public: */ template<typename T> - Subscriber<T> *subscribe(unsigned interval=10) //XXX 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); |