topic_listener.hpp

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/**
 * @file listener.hpp
 *
 */

#pragma once

#include <px4_platform_common/defines.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/app.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <uORB/uORB.h>
#include <string.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <inttypes.h>

typedef int(*listener_print_topic_cb)(const orb_id_t &orb_id, int subscription);

template <typename T>
int listener_print_topic(const orb_id_t &orb_id, int subscription)
{
    T container;

    int ret = orb_copy(orb_id, subscription, &container);

    if (ret == PX4_OK) {
        print_message(container);
    }

    return ret;
}

void listener(listener_print_topic_cb cb, const orb_id_t &id, unsigned num_msgs, int topic_instance,
          unsigned topic_interval);