forked from Archive/PX4-Autopilot
delete obsolete examples/subscriber
This commit is contained in:
parent
693ee4808a
commit
67e5986c9b
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@ -109,7 +109,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -109,7 +109,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -114,7 +114,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -114,7 +114,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -110,7 +110,6 @@ px4_add_board(
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#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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#rover_steering_control # Rover example app
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#segway
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#subscriber
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#uuv_example_app
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)
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@ -92,7 +92,6 @@ px4_add_board(
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#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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#rover_steering_control # Rover example app
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#segway
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#subscriber
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#uuv_example_app
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)
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@ -95,7 +95,6 @@ px4_add_board(
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#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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#rover_steering_control # Rover example app
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#segway
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#subscriber
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#uuv_example_app
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)
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@ -110,7 +110,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -104,7 +104,6 @@ px4_add_board(
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#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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#rover_steering_control # Rover example app
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#segway
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#subscriber
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#uuv_example_app
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)
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@ -122,7 +122,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -123,7 +123,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -122,7 +122,6 @@ px4_add_board(
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#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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#rover_steering_control # Rover example app
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#segway
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#subscriber
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#uuv_example_app
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)
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@ -107,7 +107,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -109,7 +109,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -107,7 +107,6 @@ px4_add_board(
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#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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#rover_steering_control # Rover example app
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#segway
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#subscriber
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#uuv_example_app
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)
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@ -121,7 +121,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -122,7 +122,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -121,7 +121,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -123,7 +123,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -122,7 +122,6 @@ px4_add_board(
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#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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#rover_steering_control # Rover example app
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#segway
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#subscriber
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#uuv_example_app
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)
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@ -99,7 +99,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -108,7 +108,6 @@ px4_add_board(
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#subscriber
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uuv_example_app
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)
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@ -1,43 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE examples__subscriber
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MAIN subscriber
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STACK_MAIN 2400
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SRCS
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subscriber_main.cpp
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subscriber_start_nuttx.cpp
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subscriber_example.cpp
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subscriber_params.c
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DEPENDS
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)
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@ -1,107 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file subscriber_example.cpp
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* Example subscriber for ros and px4
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#include "subscriber_params.h"
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#include "subscriber_example.h"
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using namespace px4;
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void rc_channels_callback_function(const px4_rc_channels &msg)
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{
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PX4_INFO("I heard: [%" PRIu64 "]", msg.data().timestamp_last_valid);
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}
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SubscriberExample::SubscriberExample() :
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_n(_appState),
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_p_sub_interv("SUB_INTERV", PARAM_SUB_INTERV_DEFAULT),
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_p_test_float("SUB_TESTF", PARAM_SUB_TESTF_DEFAULT)
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{
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/* Read the parameter back as example */
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_p_sub_interv.update();
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_p_test_float.update();
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PX4_INFO("Param SUB_INTERV = %d", _p_sub_interv.get());
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PX4_INFO("Param SUB_TESTF = %.3f", (double)_p_test_float.get());
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/* Do some subscriptions */
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/* Function */
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_n.subscribe<px4_rc_channels>(rc_channels_callback_function, _p_sub_interv.get());
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/* No callback */
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_sub_rc_chan = _n.subscribe<px4_rc_channels>(500);
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/* Class method */
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_n.subscribe<px4_rc_channels>(&SubscriberExample::rc_channels_callback, this, 1000);
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/* Another class method */
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_n.subscribe<px4_vehicle_attitude>(&SubscriberExample::vehicle_attitude_callback, this, 1000);
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/* Yet antoher class method */
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_n.subscribe<px4_parameter_update>(&SubscriberExample::parameter_update_callback, this, 1000);
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PX4_INFO("subscribed");
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}
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/**
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* This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
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* Also the current value of the _sub_rc_chan subscription is printed
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*/
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void SubscriberExample::rc_channels_callback(const px4_rc_channels &msg)
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{
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PX4_INFO("rc_channels_callback (method): [%" PRIu64 "]",
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msg.data().timestamp_last_valid);
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PX4_INFO("rc_channels_callback (method): value of _sub_rc_chan: [%" PRIu64 "]",
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_sub_rc_chan->data().timestamp_last_valid);
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}
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void SubscriberExample::vehicle_attitude_callback(const px4_vehicle_attitude &msg)
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{
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PX4_INFO("vehicle_attitude_callback (method): [%" PRIu64 "]",
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msg.data().timestamp);
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}
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void SubscriberExample::parameter_update_callback(const px4_parameter_update &msg)
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{
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PX4_INFO("parameter_update_callback (method): [%" PRIu64 "]",
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msg.data().timestamp);
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_p_sub_interv.update();
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PX4_INFO("Param SUB_INTERV = %d", _p_sub_interv.get());
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_p_test_float.update();
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PX4_INFO("Param SUB_TESTF = %.3f", (double)_p_test_float.get());
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}
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@ -1,67 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
||||
* are met:
|
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*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
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*
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****************************************************************************/
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/**
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* @file subscriber_example.h
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* Example subscriber for ros and px4
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#include <px4.h>
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using namespace px4;
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void rc_channels_callback_function(const px4_rc_channels &msg);
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class SubscriberExample
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{
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public:
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SubscriberExample();
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~SubscriberExample() {}
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void spin() {_n.spin();}
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protected:
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px4::NodeHandle _n;
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px4::ParameterInt _p_sub_interv;
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px4::ParameterFloat _p_test_float;
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px4::Subscriber<px4_rc_channels> *_sub_rc_chan;
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AppState _appState;
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void rc_channels_callback(const px4_rc_channels &msg);
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void vehicle_attitude_callback(const px4_vehicle_attitude &msg);
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void parameter_update_callback(const px4_parameter_update &msg);
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};
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@ -1,55 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
|
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*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
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*
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****************************************************************************/
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/**
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* @file subscriber_main.cpp
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* Example subscriber for ros and px4
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#include "subscriber_example.h"
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bool thread_running = false; /**< Deamon status flag */
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int main(int argc, char **argv)
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{
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px4::init(argc, argv, "subscriber");
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PX4_INFO("starting");
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SubscriberExample s;
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thread_running = true;
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s.spin();
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PX4_INFO("exiting.");
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thread_running = false;
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return 0;
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||||
}
|
|
@ -1,57 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file subscriber_params.c
|
||||
* Parameters for the subscriber example
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*/
|
||||
|
||||
#include <px4_defines.h>
|
||||
#include "subscriber_params.h"
|
||||
|
||||
/**
|
||||
* Interval of one subscriber in the example in ms
|
||||
*
|
||||
* @unit ms
|
||||
* @group Subscriber Example
|
||||
*/
|
||||
PX4_PARAM_DEFINE_INT32(SUB_INTERV);
|
||||
|
||||
/**
|
||||
* Float Demonstration Parameter in the Example
|
||||
*
|
||||
* @group Subscriber Example
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(SUB_TESTF);
|
|
@ -1,43 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file subscriber_params.h
|
||||
* Default parameters for the subscriber example
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#define PARAM_SUB_INTERV_DEFAULT 100
|
||||
#define PARAM_SUB_TESTF_DEFAULT 3.14f
|
|
@ -1,98 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file subscriber_start_nuttx.cpp
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*/
|
||||
#include <string.h>
|
||||
#include <cstdlib>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
extern bool thread_running;
|
||||
int daemon_task; /**< Handle of deamon task / thread */
|
||||
namespace px4
|
||||
{
|
||||
bool task_should_exit = false;
|
||||
}
|
||||
using namespace px4;
|
||||
|
||||
extern int main(int argc, char **argv);
|
||||
|
||||
extern "C" __EXPORT int subscriber_main(int argc, char *argv[]);
|
||||
int subscriber_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
errx(1, "usage: subscriber {start|stop|status}");
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
warnx("already running");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
task_should_exit = false;
|
||||
|
||||
daemon_task = px4_task_spawn_cmd("subscriber",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
2000,
|
||||
main,
|
||||
(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
task_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
warnx("is running");
|
||||
|
||||
} else {
|
||||
warnx("not started");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
warnx("unrecognized command");
|
||||
return 1;
|
||||
}
|
Loading…
Reference in New Issue