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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_rc_channels &msg) {
PX4_INFO("I heard: [%llu]", msg.data().timestamp_last_valid);
}
SubscriberExample::SubscriberExample() :
_n(),
_p_sub_interv("SUB_INTERV", PARAM_SUB_INTERV_DEFAULT),
_p_test_float("SUB_TESTF", PARAM_SUB_TESTF_DEFAULT)
{
/* Read the parameter back as example */
_p_sub_interv.update();
_p_test_float.update();
PX4_INFO("Param SUB_INTERV = %d", _p_sub_interv.get());
PX4_INFO("Param SUB_TESTF = %.3f", (double)_p_test_float.get());
/* Do some subscriptions */
/* Function */
_n.subscribe<px4_rc_channels>(rc_channels_callback_function, _p_sub_interv.get());
/* No callback */
_sub_rc_chan = _n.subscribe<px4_rc_channels>(500);
/* 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");
}
/**
* 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_rc_channels &msg) {
PX4_INFO("rc_channels_callback (method): [%llu]",
msg.data().timestamp_last_valid);
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);
_p_sub_interv.update();
PX4_INFO("Param SUB_INTERV = %d", _p_sub_interv.get());
_p_test_float.update();
PX4_INFO("Param SUB_TESTF = %.3f", (double)_p_test_float.get());
}
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