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WIP, c++11 style callbacks for px4

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Thomas Gubler
2014-11-28 08:58:44 +01:00
parent 486d81cb95
commit 36bf0c04c8
6 changed files with 74 additions and 26 deletions
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src/examples/subscriber/subscriber.cpp
+9 -1
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@@ -36,6 +36,10 @@ void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg)
{
PX4_INFO("I heard: [%lu]", msg.timestamp_last_valid);
}
// void rc_channels_callback(int i)
// {
// PX4_INFO("I heard: [%d]", i);
// }
namespace px4
{
bool task_should_exit = false;
@@ -77,7 +81,11 @@ PX4_MAIN_FUNCTION(subscriber)
* is the number of messages that will be buffered up before beginning to throw
* away the oldest ones.
*/
n.subscribe(PX4_TOPIC(rc_channels), rc_channels_callback);
// n.subscribe(PX4_TOPIC(rc_channels), [&](const PX4_TOPIC_T(rc_channels) &msg){rc_channels_callback(msg);});
// n.subscribe(PX4_TOPIC(rc_channels), [&](int i){ return rc_channels_callback(i);});
// CallbackFunction cbf = [](int i){ return rc_channels_callback(i);};
std::function<void(const PX4_TOPIC_T(rc_channels)&)> cbf = [](const PX4_TOPIC_T(rc_channels)& msg){ return rc_channels_callback(msg);};
n.subscribe<PX4_TOPIC_T(rc_channels)>(PX4_TOPIC(rc_channels), cbf);
PX4_INFO("subscribed");
/**