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/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file subscriber_example.cpp
* Example subscriber for ros and px4
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "subscriber_params.h"
#include "subscriber_example.h"
using namespace px4;
void rc_channels_callback_function(const PX4_TOPIC_T(rc_channels) &msg) {
PX4_INFO("I heard: [%llu]", msg.timestamp_last_valid);
}
SubscriberExample::SubscriberExample() :
_n(),
_p_sub_interv(PX4_PARAM_INIT(SUB_INTERV)),
_interval(0),
_p_test_float(PX4_PARAM_INIT(SUB_TESTF)),
_test_float(0.0f)
{
/* Read the parameter back as example */
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);
/* 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_INFO("subscribed");
}
/**
* This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
* Also the current value of the _sub_rc_chan subscription is printed
*/
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);
}
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