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add no callback example to subscriber example

This commit is contained in:
Thomas Gubler 2014-12-10 17:03:24 +01:00
parent f0ad2c9ef5
commit 1b6b6cd35c
2 changed files with 12 additions and 6 deletions
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15
src/examples/subscriber/subscriber_example.cpp
View File

@ -50,21 +50,24 @@ void rc_channels_callback_function(const PX4_TOPIC_T(rc_channels) &msg) {
SubscriberExample::SubscriberExample() :
_n(),
_p_sub_interv(PX4_PARAM_INIT(SUB_INTERV)),
_sub_interval(0),
_interval(0),
_p_test_float(PX4_PARAM_INIT(SUB_TESTF)),
_test_float(0.0f)
{
/* Read the parameter back as example */
PX4_PARAM_GET(_p_sub_interv, &_sub_interval);
PX4_INFO("Param SUB_INTERV = %d", _sub_interval);
PX4_PARAM_GET(_p_sub_interv, &_interval);
PX4_INFO("Param SUB_INTERV = %d", _interval);
PX4_PARAM_GET(_p_test_float, &_test_float);
PX4_INFO("Param SUB_TESTF = %.3f", (double)_test_float);
/* Do some subscriptions */
/* Function */
PX4_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _sub_interval);
PX4_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _interval);
/* Class Method */
PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000);
/* No callback */
_sub_rc_chan = PX4_SUBSCRIBE(_n, rc_channels, 500);
PX4_INFO("subscribed");
}
@ -72,5 +75,7 @@ SubscriberExample::SubscriberExample() :
* This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
*/
void SubscriberExample::rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) {
PX4_INFO("Subscriber callback: [%llu]", msg.timestamp_last_valid);
PX4_INFO("Subscriber callback: [%llu], value of _sub_rc_chan: [%llu]",
msg.timestamp_last_valid,
((SubscriberPX4<PX4_TOPIC_T(rc_channels)> *)_sub_rc_chan)->timestamp_last_valid);
}

3
src/examples/subscriber/subscriber_example.h
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@ -48,9 +48,10 @@ public:
protected:
px4::NodeHandle _n;
px4_param_t _p_sub_interv;
int32_t _sub_interval;
int32_t _interval;
px4_param_t _p_test_float;
float _test_float;
px4::Subscriber * _sub_rc_chan;
void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg);