diff options
Diffstat (limited to 'src/examples/subscriber/subscriber_example.cpp')
-rw-r--r-- | src/examples/subscriber/subscriber_example.cpp | 20 |
1 files changed, 11 insertions, 9 deletions
diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp index 18f1a9eb9..217e4d48f 100644 --- a/src/examples/subscriber/subscriber_example.cpp +++ b/src/examples/subscriber/subscriber_example.cpp @@ -64,10 +64,11 @@ SubscriberExample::SubscriberExample() : /* Function */ _n.subscribe<px4_rc_channels>(rc_channels_callback_function); //ROS version - // [> Class Method <] - // PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000); - // [> No callback <] - // _sub_rc_chan = PX4_SUBSCRIBE(_n, rc_channels, 500); + /* No callback */ + _sub_rc_chan = _n.subscribe<px4_rc_channels>(); + + /* Class Method */ + _n.subscribe<px4_rc_channels>(&SubscriberExample::rc_channels_callback, this); PX4_INFO("subscribed"); } @@ -76,8 +77,9 @@ SubscriberExample::SubscriberExample() : * This tutorial demonstrates simple receipt of messages over the PX4 middleware system. * Also the current value of the _sub_rc_chan subscription is printed */ -// void SubscriberExample::rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) { - // PX4_INFO("Subscriber callback: [%llu], value of _sub_rc_chan: [%llu]", - // msg.timestamp_last_valid, - // _sub_rc_chan->get().data().timestamp_last_valid); -// } +void SubscriberExample::rc_channels_callback(const px4_rc_channels &msg) { + PX4_INFO("Callback (method): [%llu]", + msg.data().timestamp_last_valid); + PX4_INFO("Callback (method): value of _sub_rc_chan: [%llu]", + _sub_rc_chan->get().data().timestamp_last_valid); +} |