From abeae7b6f6d70042c6b0bed493ade52727648c2d Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 26 Jan 2015 14:50:23 +0100
Subject: extend subscriber/publisher example

---
 src/examples/publisher/publisher_example.cpp   | 25 ++++++++++++++++++++-----
 src/examples/publisher/publisher_example.h     |  2 ++
 src/examples/subscriber/subscriber_example.cpp | 26 +++++++++++++++++++++++---
 src/examples/subscriber/subscriber_example.h   |  3 ++-
 4 files changed, 47 insertions(+), 9 deletions(-)

(limited to 'src/examples')

diff --git a/src/examples/publisher/publisher_example.cpp b/src/examples/publisher/publisher_example.cpp
index 9952a16e4..e7ab9eb5a 100644
--- a/src/examples/publisher/publisher_example.cpp
+++ b/src/examples/publisher/publisher_example.cpp
@@ -45,7 +45,9 @@ using namespace px4;
 
 PublisherExample::PublisherExample() :
 	_n(),
-	_rc_channels_pub(_n.advertise<px4_rc_channels>())
+	_rc_channels_pub(_n.advertise<px4_rc_channels>()),
+	_v_att_pub(_n.advertise<px4_vehicle_attitude>()),
+	_parameter_update_pub(_n.advertise<px4_parameter_update>())
 {
 }
 
@@ -57,10 +59,23 @@ int PublisherExample::main()
 		loop_rate.sleep();
 		_n.spinOnce();
 
-		px4_rc_channels msg;
-		msg.data().timestamp_last_valid = px4::get_time_micros();
-		PX4_INFO("%llu", msg.data().timestamp_last_valid);
-		_rc_channels_pub->publish(msg);
+		/* Publish example message */
+		px4_rc_channels rc_channels_msg;
+		rc_channels_msg.data().timestamp_last_valid = px4::get_time_micros();
+		PX4_INFO("rc: %llu", rc_channels_msg.data().timestamp_last_valid);
+		_rc_channels_pub->publish(rc_channels_msg);
+
+		/* Publish example message */
+		px4_vehicle_attitude v_att_msg;
+		v_att_msg.data().timestamp = px4::get_time_micros();
+		PX4_INFO("att: %llu", v_att_msg.data().timestamp);
+		_v_att_pub->publish(v_att_msg);
+
+		/* Publish example message */
+		px4_parameter_update parameter_update_msg;
+		parameter_update_msg.data().timestamp = px4::get_time_micros();
+		PX4_INFO("param update: %llu", parameter_update_msg.data().timestamp);
+		_parameter_update_pub->publish(parameter_update_msg);
 
 	}
 
diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h
index 4ff59a226..8165b0ffc 100644
--- a/src/examples/publisher/publisher_example.h
+++ b/src/examples/publisher/publisher_example.h
@@ -50,4 +50,6 @@ public:
 protected:
 	px4::NodeHandle _n;
 	px4::Publisher<px4::px4_rc_channels> * _rc_channels_pub;
+	px4::Publisher<px4::px4_vehicle_attitude> * _v_att_pub;
+	px4::Publisher<px4::px4_parameter_update> * _parameter_update_pub;
 };
diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp
index 781dde486..e1292f788 100644
--- a/src/examples/subscriber/subscriber_example.cpp
+++ b/src/examples/subscriber/subscriber_example.cpp
@@ -67,9 +67,15 @@ SubscriberExample::SubscriberExample() :
 	/* No callback */
 	_sub_rc_chan = _n.subscribe<px4_rc_channels>(500);
 
-	/* Class Method */
+	/* 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");
 }
 
@@ -78,8 +84,22 @@ SubscriberExample::SubscriberExample() :
  * Also the current value of the _sub_rc_chan subscription is printed
  */
 void SubscriberExample::rc_channels_callback(const px4_rc_channels &msg) {
-	PX4_INFO("Callback (method): [%llu]",
+	PX4_INFO("rc_channels_callback (method): [%llu]",
 			msg.data().timestamp_last_valid);
-	PX4_INFO("Callback (method): value of _sub_rc_chan: [%llu]",
+	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);
+}
diff --git a/src/examples/subscriber/subscriber_example.h b/src/examples/subscriber/subscriber_example.h
index 8da3df438..9b6d890e3 100644
--- a/src/examples/subscriber/subscriber_example.h
+++ b/src/examples/subscriber/subscriber_example.h
@@ -59,6 +59,7 @@ protected:
 	px4::Subscriber<px4_rc_channels> * _sub_rc_chan;
 
 	void rc_channels_callback(const px4_rc_channels &msg);
-
+	void vehicle_attitude_callback(const px4_vehicle_attitude &msg);
+	void parameter_update_callback(const px4_parameter_update &msg);
 
 };
-- 
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