robomon2: added dummy callback function to all publishers, so that data

would be published automatically

diff --git a/src/robomon/src2/RobomonExplorer.cpp b/src/robomon/src2/RobomonExplorer.cpp
index e3b3554886b1e25fba9c292326a985ad179fd3c5..402d291a2a3818256c6299dd45d40aec18762e1b 100644 (file)
--- a/src/robomon/src2/RobomonExplorer.cpp
+++ b/src/robomon/src2/RobomonExplorer.cpp
@@ -1009,12 +1009,12 @@ void RobomonExplorer::createOrte()
        eb2008_roboorte_init(&orte_eb2008);
 
        /* publishers */
-       generic_publisher_motion_speed_create(&orte_generic, NULL, NULL);
-       generic_publisher_joy_data_create(&orte_generic, NULL, NULL);
-       generic_publisher_pwr_ctrl_create(&orte_generic, NULL, NULL);
+       generic_publisher_motion_speed_create(&orte_generic, dummy_publisher_callback, NULL);
+       generic_publisher_joy_data_create(&orte_generic, dummy_publisher_callback, NULL);
+       generic_publisher_pwr_ctrl_create(&orte_generic, dummy_publisher_callback, NULL);
 
-       eb2008_publisher_servos_create(&orte_eb2008, NULL, NULL);
-       eb2008_publisher_drives_create(&orte_eb2008, NULL, NULL);
+       eb2008_publisher_servos_create(&orte_eb2008, dummy_publisher_callback, NULL);
+       eb2008_publisher_drives_create(&orte_eb2008, dummy_publisher_callback, NULL);
 
        /* subscribers */
        generic_subscriber_pwr_voltage_create(&orte_generic, 
@@ -1029,7 +1029,10 @@ void RobomonExplorer::createOrte()
        /*createDISubscriber(this, &orteData);*/
        /*createAccelerometerSubscriber(this, &orteData);*/
        /*createAccumulatorSubscriber(this, &orteData);*/
-
+       /* motors */
+       orte_generic.motion_speed.left = 0;
+       orte_generic.motion_speed.right = 0;
+       ORTEPublicationSend(orte_generic.publication_motion_speed);
        /* power management */
         orte_generic.pwr_ctrl.voltage33 = true;
         orte_generic.pwr_ctrl.voltage50 = true;

diff --git a/src/robomon/src2/robomon_orte.cpp b/src/robomon/src2/robomon_orte.cpp
index 940e7229fb248eed7c67aa0cd8271c8071bcb172..45e05ab56da982fe5017b13a034d148bc77584b6 100644 (file)
--- a/src/robomon/src2/robomon_orte.cpp
+++ b/src/robomon/src2/robomon_orte.cpp
@@ -47,6 +47,10 @@ void sendMotorCallBack(const ORTESendInfo *info,
 }
 
 
+void dummy_publisher_callback(const ORTESendInfo *info,
+                       void *vinstance, void *arg)
+{
+}
 void sendServoCallBack(const ORTESendInfo *info,
                        void *vinstance, void *arg)
 {

diff --git a/src/robomon/src2/robomon_orte.h b/src/robomon/src2/robomon_orte.h
index 3c05b2c0179d104212797ee06d664eb17160f04a..881a7512ae446d40ad501c062ffdf94832756463 100644 (file)
--- a/src/robomon/src2/robomon_orte.h
+++ b/src/robomon/src2/robomon_orte.h
@@ -128,6 +128,8 @@ void createPowerVoltageSubscriber(void *arg, struct orte_data *data);
 
 /* callback functions */
 /* publishers */
+void dummy_publisher_callback(const ORTESendInfo *info,
+                       void *vinstance, void *arg);
 void sendMotorCallBack(const ORTESendInfo *info,
                        void *vinstance, void *arg);
 void sendServoCallBack(const ORTESendInfo *info,