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messagelayer prototype for nuttx

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This commit is contained in:
Thomas Gubler
2015-01-20 18:27:05 +01:00
parent 7c3223b860
commit cadcad6ffb
9 changed files with 78 additions and 74 deletions
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19
src/examples/subscriber/subscriber_example.cpp
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@@ -43,8 +43,10 @@
using namespace px4;
void rc_channels_callback_function(const PX4_TOPIC_T(rc_channels) &msg) {
PX4_INFO("I heard: [%llu]", msg.timestamp_last_valid);
// void rc_channels_callback_function(const PX4_TOPIC_T(rc_channels) &msg) {
void rc_channels_callback_function(const px4_rc_channels &msg);
void rc_channels_callback_function(const px4_rc_channels &msg) {
PX4_INFO("I heard: [%llu]", msg.data().timestamp_last_valid);
}
SubscriberExample::SubscriberExample() :
@@ -63,7 +65,8 @@ SubscriberExample::SubscriberExample() :
/* Do some subscriptions */
/* Function */
// PX4_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _interval);
_n.subscribe<px4_rc_channels>(rc_channels_callback_function);
_n.subscribe<px4_rc_channels>(rc_channels_callback_function); //ROS version
// _n.subscribe<px4_rc_channels>(std::bind(&rc_channels_callback_function, std::placeholders::_1)); UORB version
// [> Class Method <]
// PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000);
@@ -77,8 +80,8 @@ SubscriberExample::SubscriberExample() :
* 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);
}
// 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);
// }