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macro for topic subscription

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This commit is contained in:
Thomas Gubler
2014-11-28 10:18:28 +01:00
parent bfc0a52ea2
commit 59a9648bb6
2 changed files with 11 additions and 6 deletions
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src/examples/subscriber/subscriber.cpp
+5 -2
View File
@@ -86,8 +86,11 @@ PX4_MAIN_FUNCTION(subscriber)
// 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);
n.subscribe<PX4_TOPIC_T(rc_channels)>(PX4_TOPIC(rc_channels),
[](const PX4_TOPIC_T(rc_channels)& msg){ return rc_channels_callback(msg);});
// n.subscribe<PX4_TOPIC_T(rc_channels)>(PX4_TOPIC(rc_channels),
// [](const PX4_TOPIC_T(rc_channels)& msg){ return rc_channels_callback(msg);});
// n.subscribe<PX4_TOPIC_T(rc_channels)>(PX4_TOPIC(rc_channels),
// [](const PX4_TOPIC_T(rc_channels)& msg){ return rc_channels_callback(msg);});
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback);
PX4_INFO("subscribed");
/**
src/platforms/px4_defines.h
+6 -4
View File
@@ -48,8 +48,9 @@
#define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv)
#define PX4_WARN ROS_WARN
#define PX4_INFO ROS_INFO
#define PX4_TOPIC(name) #name
#define PX4_TOPIC_T(name) name
#define PX4_TOPIC(_name) #_name
#define PX4_TOPIC_T(_name) _name
#define PX4_SUBSCRIBE(_nodehandle, _name, _cbf) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf);
#else
/*
@@ -62,7 +63,8 @@
#define PX4_WARN warnx
#define PX4_WARN warnx
#define PX4_INFO warnx
#define PX4_TOPIC(name) ORB_ID(name)
#define PX4_TOPIC_T(name) name##_s
#define PX4_TOPIC(_name) ORB_ID(_name)
#define PX4_TOPIC_T(_name) _name##_s
#define PX4_SUBSCRIBE(_nodehandle, _name, _cbf) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), [](const PX4_TOPIC_T(_name)& msg){ return _cbf(msg);})
#endif