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Diffstat (limited to 'src/examples/subscriber/subscriber_example.cpp')
| -rw-r--r-- | src/examples/subscriber/subscriber_example.cpp | 105 |
1 files changed, 105 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..e1292f788 --- /dev/null +++ b/src/examples/subscriber/subscriber_example.cpp @@ -0,0 +1,105 @@ +/**************************************************************************** + * + * 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_example.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_rc_channels &msg) { + PX4_INFO("I heard: [%llu]", msg.data().timestamp_last_valid); +} + +SubscriberExample::SubscriberExample() : + _n(), + _p_sub_interv(PX4_PARAM_INIT(SUB_INTERV)), + _interval(0), + _p_test_float(PX4_PARAM_INIT(SUB_TESTF)), + _test_float(0.0f) +{ + /* Read the parameter back as example */ + PX4_PARAM_GET(_p_sub_interv, &_interval); + PX4_INFO("Param SUB_INTERV = %d", _interval); + PX4_PARAM_GET(_p_test_float, &_test_float); + PX4_INFO("Param SUB_TESTF = %.3f", (double)_test_float); + + /* Do some subscriptions */ + /* Function */ + _n.subscribe<px4_rc_channels>(rc_channels_callback_function, _interval); + + /* No callback */ + _sub_rc_chan = _n.subscribe<px4_rc_channels>(500); + + /* Class method */ + _n.subscribe<px4_rc_channels>(&SubscriberExample::rc_channels_callback, this, 1000); + + /* Another class method */ + _n.subscribe<px4_vehicle_attitude>(&SubscriberExample::vehicle_attitude_callback, this, 1000); + + /* Yet antoher class method */ + _n.subscribe<px4_parameter_update>(&SubscriberExample::parameter_update_callback, this, 1000); + + PX4_INFO("subscribed"); +} + +/** + * 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_rc_channels &msg) { + PX4_INFO("rc_channels_callback (method): [%llu]", + msg.data().timestamp_last_valid); + PX4_INFO("rc_channels_callback (method): value of _sub_rc_chan: [%llu]", + _sub_rc_chan->data().timestamp_last_valid); +} + +void SubscriberExample::vehicle_attitude_callback(const px4_vehicle_attitude &msg) { + PX4_INFO("vehicle_attitude_callback (method): [%llu]", + msg.data().timestamp); +} + +void SubscriberExample::parameter_update_callback(const px4_parameter_update &msg) { + PX4_INFO("parameter_update_callback (method): [%llu]", + msg.data().timestamp); + PX4_PARAM_GET(_p_sub_interv, &_interval); + PX4_INFO("Param SUB_INTERV = %d", _interval); + PX4_PARAM_GET(_p_test_float, &_test_float); + PX4_INFO("Param SUB_TESTF = %.3f", (double)_test_float); +} |