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ros wrapper port callback to methods and subscriber without callback

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This commit is contained in:
Thomas Gubler
2015-01-22 16:47:28 +01:00
parent 8c4fce3654
commit 49d41773fc
4 changed files with 34 additions and 34 deletions
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src/examples/subscriber/subscriber_example.cpp
+11 -9
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@@ -64,10 +64,11 @@ SubscriberExample::SubscriberExample() :
/* 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);
/* No callback */
_sub_rc_chan = _n.subscribe<px4_rc_channels>();
/* Class Method */
_n.subscribe<px4_rc_channels>(&SubscriberExample::rc_channels_callback, this);
PX4_INFO("subscribed");
}
@@ -76,8 +77,9 @@ 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_rc_channels &msg) {
PX4_INFO("Callback (method): [%llu]",
msg.data().timestamp_last_valid);
PX4_INFO("Callback (method): value of _sub_rc_chan: [%llu]",
_sub_rc_chan->get().data().timestamp_last_valid);
}
src/examples/subscriber/subscriber_example.h
+1 -1
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@@ -58,7 +58,7 @@ protected:
float _test_float;
px4::Subscriber<px4_rc_channels> * _sub_rc_chan;
// void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg);
void rc_channels_callback(const px4_rc_channels &msg);
};
src/platforms/px4_nodehandle.h
+21 -22
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@@ -91,34 +91,33 @@ public:
/**
* Subscribe with callback to class method
* @param topic Name of the topic
* @param fb Callback, executed on receiving a new message
* @param obj pointer class instance
*/
// template<typename M, typename T>
// Subscriber<M> *subscribe(const char *topic, void(T::*fp)(const M &), T *obj)
// {
// SubscriberBase *sub = new SubscriberROS<M>(std::bind(fp, obj, std::placeholders::_1));
// ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback,
// (SubscriberROS<M> *)sub);
// ((SubscriberROS<M> *)sub)->set_ros_sub(ros_sub);
// _subs.push_back(sub);
// return (Subscriber<M> *)sub;
// }
template<typename T, typename C>
Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj)
{
SubscriberBase *sub = new SubscriberROS<T>(std::bind(fp, obj, std::placeholders::_1));
ros::Subscriber ros_sub = ros::NodeHandle::subscribe(T::handle(), kQueueSizeDefault,
&SubscriberROS<T>::callback, (SubscriberROS<T> *)sub);
((SubscriberROS<T> *)sub)->set_ros_sub(ros_sub);
_subs.push_back(sub);
return (Subscriber<T> *)sub;
}
/**
* Subscribe with no callback, just the latest value is stored on updates
* @param topic Name of the topic
*/
// template<typename M>
// Subscriber<M> *subscribe(const char *topic)
// {
// SubscriberBase *sub = new SubscriberROS<M>();
// ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback,
// (SubscriberROS<M> *)sub);
// ((SubscriberROS<M> *)sub)->set_ros_sub(ros_sub);
// _subs.push_back(sub);
// return (Subscriber<M> *)sub;
// }
template<typename T>
Subscriber<T> *subscribe()
{
SubscriberBase *sub = new SubscriberROS<T>();
ros::Subscriber ros_sub = ros::NodeHandle::subscribe(T::handle(), kQueueSizeDefault,
&SubscriberROS<T>::callback, (SubscriberROS<T> *)sub);
((SubscriberROS<T> *)sub)->set_ros_sub(ros_sub);
_subs.push_back(sub);
return (Subscriber<T> *)sub;
}
/**
* Advertise topic
src/platforms/px4_subscriber.h
+1 -2
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@@ -130,11 +130,10 @@ protected:
void callback(const typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &msg)
{
/* Store data */
this->_msg_current = (T)msg;
this->_msg_current.data() = msg;
/* Call callback */
if (_cbf != NULL) {
// _cbf(_msg_current);
_cbf(this->get());
}