diff options
Diffstat (limited to 'src/platforms/px4_defines.h')
| -rw-r--r-- | src/platforms/px4_defines.h | 15 |
1 files changed, 8 insertions, 7 deletions
diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h index 7efe13bae..f6679d01b 100644 --- a/src/platforms/px4_defines.h +++ b/src/platforms/px4_defines.h @@ -44,27 +44,28 @@ * Building for running within the ROS environment */ #define __EXPORT -// #define PX4_MAIN_FUNCTION(_prefix) #define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv) #define PX4_WARN ROS_WARN #define PX4_INFO ROS_INFO #define PX4_TOPIC(_name) #_name #define PX4_TOPIC_T(_name) _name -#define PX4_SUBSCRIBE(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf); +#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, &_obj); +#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf); #else /* * Building for NuttX */ - -// #define PX4_MAIN_FUNCTION(_prefix) __EXPORT int _prefix##_main(int argc, char **argv)() { return main(argc, argv); } -// #define PX4_MAIN_FUNCTION(_prefix) extern "C" __EXPORT int _prefix##_main(int argc, char *argv[]) { return main(argc, argv); } #define PX4_MAIN_FUNCTION(_prefix) extern "C" __EXPORT int _prefix##_main(int argc, char *argv[]) #define PX4_WARN warnx #define PX4_WARN warnx #define PX4_INFO warnx #define PX4_TOPIC(_name) ORB_ID(_name) #define PX4_TOPIC_T(_name) _name##_s -#define PX4_SUBSCRIBE(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), [](const PX4_TOPIC_T(_name)& msg){ return _cbf(msg);}, _interval) - +#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_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, std::placeholders::_1), _interval) #endif + +/* Overload the PX4_SUBSCRIBE macro to suppport methods and pure functions as callback */ +#define PX4_GET_SUBSCRIBE(_1, _2, _3, _4, _5, NAME, ...) NAME +#define PX4_SUBSCRIBE(...) PX4_GET_SUBSCRIBE(__VA_ARGS__, PX4_SUBSCRIBE_CBMETH, PX4_SUBSCRIBE_CBFUNC)(__VA_ARGS__) |