diff options
Diffstat (limited to 'src/platforms/px4_defines.h')
| -rw-r--r-- | src/platforms/px4_defines.h | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h index 440f1b6fc..819954d0e 100644 --- a/src/platforms/px4_defines.h +++ b/src/platforms/px4_defines.h @@ -66,9 +66,11 @@ #define PX4_TOPIC_T(_name) _name /* Subscribe and providing a class method as callback (do not use directly, use PX4_SUBSCRIBE instead) */ -#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, &_obj); +#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _objptr, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, _objptr); /* Subscribe and providing a function as callback (do not use directly, use PX4_SUBSCRIBE instead) */ #define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf); +/* Subscribe without a callback (do not use directly, use PX4_SUBSCRIBE instead) */ +#define PX4_SUBSCRIBE_NOCB(_nodehandle, _name, _interval) _nodehandle.subscribe<const PX4_TOPIC_T(_name)&>(PX4_TOPIC(_name)); /* Parameter handle datatype */ typedef const char *px4_param_t; @@ -113,9 +115,10 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value) #define PX4_TOPIC_T(_name) _name##_s /* Subscribe and providing a class method as callback (do not use directly, use PX4_SUBSCRIBE instead) */ -#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, _obj, std::placeholders::_1), _interval) +#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _objptr, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, _objptr, std::placeholders::_1), _interval) /* Subscribe and providing a function as callback (do not use directly, use PX4_SUBSCRIBE instead) */ #define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, std::placeholders::_1), _interval) +/* Subscribe without a callback (do not use directly, use PX4_SUBSCRIBE instead) */ #define PX4_SUBSCRIBE_NOCB(_nodehandle, _name, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), nullptr, _interval) /* Parameter handle datatype */ |