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actually call callback

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This commit is contained in:
Thomas Gubler
2014-11-28 11:38:22 +01:00
parent b351d67175
commit 16f21d36dc
2 changed files with 7 additions and 10 deletions
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src/platforms/px4_nodehandle.h
+3 -3
View File
@@ -106,8 +106,6 @@ public:
template<typename M>
Subscriber * subscribe(const struct orb_metadata *meta, std::function<void(const M&)> callback) {
// Subscriber * subscribe(const struct orb_metadata *meta, std::function<void(int i)> callback) {
// Subscriber * subscribe(const struct orb_metadata *meta, CallbackFunction callback) {
unsigned interval = 0;//XXX decide how to wrap this, ros equivalent?
//XXX
Subscriber *sub = new SubscriberPX4<M>(meta, interval, callback, &_subs);
@@ -124,7 +122,9 @@ public:
void spinOnce();
void spin() {
//XXX: call callbacks and do not return until task is terminated
while (true) { //XXX
spinOnce();
}
}
private:
static const uint16_t kMaxSubscriptions = 100;
src/platforms/px4_subscriber.h
+4 -7
View File
@@ -80,11 +80,10 @@ public:
SubscriberPX4(const struct orb_metadata *meta,
unsigned interval,
std::function<void(const M&)> callback,
// std::function<void(int i)> callback,
// CallbackFunction callback,
List<uORB::SubscriptionNode *> * list) :
Subscriber(),
uORB::Subscription<M>(meta, interval, list)
uORB::Subscription<M>(meta, interval, list),
_callback(callback)
//XXX store callback
{}
~SubscriberPX4() {};
@@ -94,13 +93,11 @@ public:
uORB::Subscription<M>::update();
/* Call callback which performs actions based on this data */
// _callback();
_callback(uORB::Subscription<M>::getData());
};
private:
// std::function<void(int i)> _callback;
// CallbackFunction _callback;
std::function<void(const M&)> _callback;
std::function<void(const M&)> _callback;
};
#endif