bizhang_-obav/src/examples/subscriber/subscriber_example.cpp

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/**
 * @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(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 */
	_n.subscribe<px4_rc_channels>(rc_channels_callback_function); //ROS version

	// [> 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().data().timestamp_last_valid);
// }