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Diffstat (limited to 'src/examples/subscriber/subscriber.cpp')
| -rw-r--r-- | src/examples/subscriber/subscriber.cpp | 120 |
1 files changed, 0 insertions, 120 deletions
diff --git a/src/examples/subscriber/subscriber.cpp b/src/examples/subscriber/subscriber.cpp deleted file mode 100644 index 0d9ca1fa7..000000000 --- a/src/examples/subscriber/subscriber.cpp +++ /dev/null @@ -1,120 +0,0 @@ -/* - * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include <px4.h> -#include "subscriber_params.h" -#include <cstdio> - -using namespace px4; - -/** - * This tutorial demonstrates simple receipt of messages over the PX4 middleware system. - */ -void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) { - PX4_INFO("I heard: [%llu]", msg.timestamp_last_valid); -} -void rc_channels_callback2(const PX4_TOPIC_T(rc_channels) &msg) { - PX4_INFO("I heard (2): [%llu]", msg.timestamp_last_valid); -} - -class RCHandler { -public: - void callback(const PX4_TOPIC_T(rc_channels) &msg) { - PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp_last_valid); - } -}; - -RCHandler rchandler; - - -namespace px4 -{ -bool task_should_exit = false; -} - -PX4_MAIN_FUNCTION(subscriber) { - /** - * The ros::init() function needs to see argc and argv so that it can perform - * any ROS arguments and name remapping that were provided at the command line. For programmatic - * remappings you can use a different version of init() which takes remappings - * directly, but for most command-line programs, passing argc and argv is the easiest - * way to do it. The third argument to init() is the name of the node. - * - * You must call one of the versions of px4::init() before using any other - * part of the PX4/ ROS system. - */ - px4::init(argc, argv, "listener"); - - /** - * NodeHandle is the main access point to communications with the ROS system. - * The first NodeHandle constructed will fully initialize this node, and the last - * NodeHandle destructed will close down the node. - */ - px4::NodeHandle n; - - /* Define parameters */ - px4_param_t p_sub_interv = PX4_PARAM_INIT(SUB_INTERV); - px4_param_t p_test_float = PX4_PARAM_INIT(SUB_TESTF); - - /* Read the parameter back for testing */ - int32_t sub_interval; - float test_float; - PX4_PARAM_GET(p_sub_interv, &sub_interval); - PX4_INFO("Param SUB_INTERV = %d", sub_interval); - PX4_PARAM_GET(p_test_float, &test_float); - PX4_INFO("Param SUB_TESTF = %.3f", (double)test_float); - - /** - * The subscribe() call is how you tell ROS that you want to receive messages - * on a given topic. This invokes a call to the ROS - * master node, which keeps a registry of who is publishing and who - * is subscribing. Messages are passed to a callback function, here - * called chatterCallback. subscribe() returns a Subscriber object that you - * must hold on to until you want to unsubscribe. When all copies of the Subscriber - * object go out of scope, this callback will automatically be unsubscribed from - * this topic. - * - * The second parameter to the subscribe() function is the size of the message - * queue. If messages are arriving faster than they are being processed, this - * is the number of messages that will be buffered up before beginning to throw - * away the oldest ones. - */ - PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback, sub_interval); - PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback2, 1000); - PX4_SUBSCRIBE(n, rc_channels, RCHandler::callback, rchandler, 1000); - PX4_INFO("subscribed"); - - /** - * px4::spin() will enter a loop, pumping callbacks. With this version, all - * callbacks will be called from within this thread (the main one). px4::spin() - * will exit when Ctrl-C is pressed, or the node is shutdown by the master. - */ - n.spin(); - PX4_INFO("finished, returning"); - - return 0; -} |