From 7c3223b8609ee418b520d19cae7e52d2a7a85e99 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 18 Jan 2015 18:43:45 +0100 Subject: added a messageplayer prototype for ros --- src/examples/publisher/publisher_example.cpp | 19 ++++++++++++++----- src/examples/publisher/publisher_example.h | 1 + src/examples/subscriber/subscriber_example.cpp | 14 ++++++++------ src/examples/subscriber/subscriber_example.h | 3 ++- 4 files changed, 25 insertions(+), 12 deletions(-) (limited to 'src/examples') diff --git a/src/examples/publisher/publisher_example.cpp b/src/examples/publisher/publisher_example.cpp index 2e5779ebe..e85e42b38 100644 --- a/src/examples/publisher/publisher_example.cpp +++ b/src/examples/publisher/publisher_example.cpp @@ -45,7 +45,8 @@ using namespace px4; PublisherExample::PublisherExample() : _n(), - _rc_channels_pub(PX4_ADVERTISE(_n, rc_channels)) + _rc_channels_pub(_n.advertise()) + // _rc_channels_pub(PX4_ADVERTISE(_n, rc_channels)) { } @@ -55,11 +56,19 @@ int PublisherExample::main() px4::Rate loop_rate(10); while (px4::ok()) { - PX4_TOPIC_T(rc_channels) msg; - msg.timestamp_last_valid = px4::get_time_micros(); - PX4_INFO("%llu", msg.timestamp_last_valid); + // PX4_TOPIC_T(rc_channels) msg; + // msg.timestamp_last_valid = px4::get_time_micros(); + // PX4_INFO("%llu", msg.timestamp_last_valid); + + // _rc_channels_pub->publish(msg); + + //XXX + px4_rc_channels msg2; + msg2.data().timestamp_last_valid = px4::get_time_micros(); + PX4_INFO("%llu", msg2.data().timestamp_last_valid); + // msg2.pub->publish2(); + _rc_channels_pub->publish(msg2); - _rc_channels_pub->publish(msg); _n.spinOnce(); loop_rate.sleep(); diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h index 304ecef47..86586d0d3 100644 --- a/src/examples/publisher/publisher_example.h +++ b/src/examples/publisher/publisher_example.h @@ -48,5 +48,6 @@ public: int main(); protected: px4::NodeHandle _n; + // px4::Publisher * _rc_channels_pub; px4::Publisher * _rc_channels_pub; }; diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp index 3c80561ca..1c8f4c62b 100644 --- a/src/examples/subscriber/subscriber_example.cpp +++ b/src/examples/subscriber/subscriber_example.cpp @@ -62,11 +62,13 @@ SubscriberExample::SubscriberExample() : /* Do some subscriptions */ /* Function */ - PX4_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _interval); - /* Class Method */ - PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000); - /* No callback */ - _sub_rc_chan = PX4_SUBSCRIBE(_n, rc_channels, 500); + // PX4_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _interval); + _n.subscribe(rc_channels_callback_function); + + // [> Class Method <] + // PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000); + // [> No callback <] + // _sub_rc_chan = PX4_SUBSCRIBE(_n, rc_channels, 500); PX4_INFO("subscribed"); } @@ -78,5 +80,5 @@ SubscriberExample::SubscriberExample() : 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().timestamp_last_valid); + _sub_rc_chan->get().data().timestamp_last_valid); } diff --git a/src/examples/subscriber/subscriber_example.h b/src/examples/subscriber/subscriber_example.h index eb2c956e0..b52ae991b 100644 --- a/src/examples/subscriber/subscriber_example.h +++ b/src/examples/subscriber/subscriber_example.h @@ -56,7 +56,8 @@ protected: int32_t _interval; px4_param_t _p_test_float; float _test_float; - px4::PX4_SUBSCRIBER(rc_channels) * _sub_rc_chan; + // px4::PX4_SUBSCRIBER(rc_channels) * _sub_rc_chan; + px4::Subscriber * _sub_rc_chan; void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg); -- cgit v1.2.3