1 files changed, 78 insertions, 0 deletions
diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp
new file mode 100644
index 000000000..cddab1035
--- /dev/null
+++ b/src/examples/subscriber/subscriber_example.cpp
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file subscriber.cpp
+ * Example subscriber for ros and px4
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include "subscriber_params.h"
+#include "subscriber_example.h"
+
+using namespace px4;
+
+void rc_channels_callback_function(const PX4_TOPIC_T(rc_channels) &msg) {
+	PX4_INFO("I heard: [%llu]", msg.timestamp_last_valid);
+}
+
+SubscriberExample::SubscriberExample() :
+	_n(),
+	_sub_interval(0),
+	_test_float(0.0f)
+{
+	/* Define parameters */
+	_p_sub_interv = PX4_PARAM_INIT(SUB_INTERV);
+	_p_test_float = PX4_PARAM_INIT(SUB_TESTF);
+
+	/* Read the parameter back as example */
+	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);
+
+	/* Do some subscriptions */
+	/* Function */
+	PX4_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _sub_interval);
+	/* Class Method */
+	PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000);
+	PX4_INFO("subscribed");
+}
+
+/**
+ * This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
+ */
+void SubscriberExample::rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) {
+	PX4_INFO("Subscriber callback: [%llu]", msg.timestamp_last_valid);
+}