From caa61a4fdc7898987da7a03e1924ced8962bb92c Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 28 Nov 2014 23:09:45 +0100 Subject: add support for subcription method callbacks for ros and nuttx --- src/examples/subscriber/subscriber.cpp | 30 +++++++++++++++++++++++------- 1 file changed, 23 insertions(+), 7 deletions(-) (limited to 'src/examples') diff --git a/src/examples/subscriber/subscriber.cpp b/src/examples/subscriber/subscriber.cpp index a186ba94a..3d54a1a2f 100644 --- a/src/examples/subscriber/subscriber.cpp +++ b/src/examples/subscriber/subscriber.cpp @@ -32,21 +32,29 @@ using namespace px4; /** * This tutorial demonstrates simple receipt of messages over the PX4 middleware system. */ -void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) -{ +void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) { PX4_INFO("I heard: [%llu]", msg.timestamp_last_valid); } -void rc_channels_callback2(const PX4_TOPIC_T(rc_channels) &msg) -{ - PX4_INFO("I heard2: [%llu]", msg.timestamp_last_valid); +void rc_channels_callback2(const PX4_TOPIC_T(rc_channels) &msg) { + PX4_INFO("I heard(2): [%llu]", msg.timestamp_last_valid); } + +class RCHandler { +public: + void callback(const PX4_TOPIC_T(rc_channels) &msg) { + PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp_last_valid); + } +}; + +RCHandler rchandler; + + namespace px4 { bool task_should_exit = false; } -PX4_MAIN_FUNCTION(subscriber) -{ +PX4_MAIN_FUNCTION(subscriber) { /** * The ros::init() function needs to see argc and argv so that it can perform * any ROS arguments and name remapping that were provided at the command line. For programmatic @@ -83,6 +91,14 @@ PX4_MAIN_FUNCTION(subscriber) */ PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback, 100); PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback2, 1000); + //1 + // PX4_SUBSCRIBE(n, rc_channels, callee.rc_channels_callback, , 1000); + //2 + // PX4_SUBSCRIBE(n, rc_channels, rchandler.callback, &rchandler, 1000); + //3 for bind + PX4_SUBSCRIBE(n, rc_channels, RCHandler::callback, rchandler, 1000); + // ros::NodeHandle n2; + // n2.subscribe("chatter", 1000, &RCHandler::callback, &rchandler); PX4_INFO("subscribed"); /** -- cgit v1.2.3