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include/tron_adapter.h

@@ -104,7 +104,7 @@ struct Mapping {
     Channel channel = Channel("", 0, true); // TRON channel
     // Callback used if TRON sends some message
     // output callbacks must be specified when subscribing to topics
-    void(*input_callback)(Mapping& map, int32_t*) = nullptr;
+    boost::function<void(Mapping& map, int32_t*)> input_callback = 0;
 
     // note: since ROS messages can be complex, using byte positions might be cumbersome to use
     // it is easy to implement custom callbacks using ROS message types
@@ -258,7 +258,7 @@ struct TRON_Adapter {
                 pub.publish(ptr);
                 return;
             }
-        throw "did not find publisher for topic";
+        throw "did not find publisher";
     }
 
     /**
@@ -293,7 +293,6 @@ struct TRON_Adapter {
         publish_to_topic<T>(map.topic, shared_ptr);
     }
  
-    
     /**
      * callback reports to TRON like defined in byte-mappings
      * note: this callback reports to all channels associated with calling topic

src/garage_adapter.cpp

 #include <ros/ros.h>
 #include <actionlib_example/TriggerAction.h>
 #include "tron_adapter.h"
+#include <std_msgs/Int32.h>
 
 TRON_Adapter adapter;
 
@@ -73,6 +74,23 @@ int main(int argc, char**argv){
         
         configuration_phase(nh);
         
+        // example use of template callbacks
+        /*
+        Mapping map = adapter.createMapping("/test_in", "oeffnen", true);
+        adapter.add_var_to_mapping(map, "akt_position");
+        map.input_callback = boost::bind(&TRON_Adapter::mapping_callback_to_topic<std_msgs::Int32>, &adapter, _1, _2);
+        adapter.input_publishers.push_back(nh.advertise<std_msgs::Int32>("/test_in", 10));
+        adapter.mappings.push_back(map);
+
+        map = adapter.createMapping("/test_out", "position", false);
+        adapter.add_var_to_mapping(map, "akt_position");
+        adapter.output_subscribers.push_back(nh.subscribe<std_msgs::Int32>("/test_out", 10, 
+            boost::function<void(const ros::MessageEvent<std_msgs::Int32>&)>(
+            boost::bind(&TRON_Adapter::mappings_callback_to_TRON<std_msgs::Int32>, &adapter, _1))));
+        adapter.mappings.push_back(map);
+        adapter.set_time_unit_and_timeout(1000000L, 300);
+        */
+
         adapter.request_start(); 
         
         // testing phase loop

src/garage_server.cpp

@@ -2,6 +2,7 @@
 #include <actionlib_example/TriggerAction.h>
 #include <actionlib/server/simple_action_server.h>
 #include <stdlib.h>
+#include <std_msgs/Int32.h>
 
 class Garage {
     private:
@@ -61,14 +62,29 @@ class Garage {
         }
 };
 
+
+/*
+ros::Publisher pub;
+void test_in_cb(ros::MessageEvent<std_msgs::Int32> event) {
+    std_msgs::Int32 i;
+    i.data = 100;
+    pub.publish(i);
+}
+*/
+
 int main(int argc, char** argv){
     ros::init(argc, argv, "gar_serv");
+    
     ros::NodeHandle nh;
     ROS_INFO("server here");
     // not working on stack for some reason, 
     // might be too big, no stackoverflow thrown though
     // Garage gar();
     Garage* gar = new Garage();
+    /*
+    pub = nh.advertise<std_msgs::Int32>("test_out", 10);
+    ros::Subscriber sub = nh.subscribe<std_msgs::Int32>("test_in", 10, test_in_cb);
+    */
     ros::spin();
     delete gar;
     return 0;

src/tron_adapter.cpp

@@ -308,7 +308,7 @@ void TRON_Adapter::process_TRONs_msgs(){
 
         for (Mapping& map : mappings)
             if (map.channel.name == chan->name && map.channel.is_input) {
-                if (map.input_callback != nullptr)
+                if (!map.input_callback.empty())
                     map.input_callback(map, vals);  
                 else throw "no callback declared";
             }