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px4-firmware
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improve param wrapper for ros, prepare for px4

This commit is contained in:
Thomas Gubler 2014-12-03 14:43:03 +01:00
parent 6a99b04fb7
commit 1c79f0cef1
4 changed files with 25 additions and 6 deletions
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12
src/examples/subscriber/subscriber.cpp
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@ -74,13 +74,17 @@ PX4_MAIN_FUNCTION(subscriber) {
*/
px4::NodeHandle n;
/* Define a parameter */
PX4_PARAM_INIT("SUB_INTERV", 100);
/* Define parameters */
px4_param_t p_sub_interv = PX4_PARAM_INIT("SUB_INTERV", 100);
px4_param_t p_test_float = PX4_PARAM_INIT("SUB_TESTF", 3.14f);
/* Read the parameter back for testing */
int32_t sub_interval;
PX4_PARAM_GET("SUB_INTERV", &sub_interval);
float test_float;
PX4_PARAM_GET(p_sub_interv, &sub_interval);
PX4_INFO("Param SUB_INTERV = %d", sub_interval);
PX4_PARAM_GET(p_test_float, &test_float);
PX4_INFO("Param SUB_TESTF = %f", (double)test_float);
/**
* The subscribe() call is how you tell ROS that you want to receive messages
@ -97,7 +101,7 @@ PX4_MAIN_FUNCTION(subscriber) {
* is the number of messages that will be buffered up before beginning to throw
* away the oldest ones.
*/
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback, 100);
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback, sub_interval);
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback2, 1000);
PX4_SUBSCRIBE(n, rc_channels, RCHandler::callback, rchandler, 1000);
PX4_INFO("subscribed");

1
src/include/px4.h
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@ -56,6 +56,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/rc_channels.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#endif

17
src/platforms/px4_defines.h
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@ -51,8 +51,18 @@
#define PX4_TOPIC_T(_name) _name
#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, &_obj);
#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf);
#define PX4_PARAM_INIT(_name, _default) ros::param::set(_name, _default);
#define PX4_PARAM_GET(_name, _destpt) ros::param::get(_name, *_destpt)
typedef const std::string px4_param_t;
static inline px4_param_t ROS_PARAM_SET(const std::string &name, int32_t value) {
ros::param::set(name, value);
return (px4_param_t)name;
};
static inline px4_param_t ROS_PARAM_SET(const std::string &name, float value) {
ros::param::set(name, value);
return (px4_param_t)name;
};
#define PX4_PARAM_INIT(_name, _default) ROS_PARAM_SET(_name, _default)
// #define PX4_PARAM_INIT(_name, _default) ros::param::set(_name, _default)
#define PX4_PARAM_GET(_handle, _destpt) ros::param::get(_handle, *_destpt)
#else
/*
* Building for NuttX
@ -65,6 +75,9 @@
#define PX4_TOPIC_T(_name) _name##_s
#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, _obj, std::placeholders::_1), _interval)
#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, std::placeholders::_1), _interval)
typedef param_t px4_param_t
#define PX4_PARAM_INIT(_name, _default) param_find(_name)
#define PX4_PARAM_GET(_handle, _destpt) param_get(_handle, _destpt)
#endif
/* Overload the PX4_SUBSCRIBE macro to suppport methods and pure functions as callback */

1
src/platforms/px4_nodehandle.h
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@ -99,6 +99,7 @@ public:
void spin() { ros::spin(); }
void spinOnce() { ros::spinOnce(); }
private:
static const uint32_t kQueueSizeDefault = 1000;
std::list<Subscriber*> _subs;