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write publisher example as class

This commit is contained in:
Thomas Gubler 2014-12-10 16:22:19 +01:00
parent cb77c16601
commit 8ae1c9763d
11 changed files with 483 additions and 224 deletions
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3
src/examples/publisher/module.mk
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@ -37,6 +37,7 @@
MODULE_COMMAND = publisher
SRCS = publisher.cpp
SRCS = publisher_main.cpp \
publisher_example.cpp
MODULE_STACKSIZE = 1200

100
src/examples/publisher/publisher.cpp
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@ -1,100 +0,0 @@
/*
* Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* * 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.
* * Neither the names of Stanford University or Willow Garage, Inc. 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.
*/
#include <px4.h>
using namespace px4;
/**
* This tutorial demonstrates simple sending of messages over the PX4 middleware system.
*/
namespace px4
{
bool task_should_exit = false;
}
PX4_MAIN_FUNCTION(publisher)
{
px4::init(argc, argv, "px4_publisher");
px4::NodeHandle n;
/**
* The advertise() function is how you tell ROS that you want to
* publish on a given topic name. This invokes a call to the ROS
* master node, which keeps a registry of who is publishing and who
* is subscribing. After this advertise() call is made, the master
* node will notify anyone who is trying to subscribe to this topic name,
* and they will in turn negotiate a peer-to-peer connection with this
* node. advertise() returns a Publisher object which allows you to
* publish messages on that topic through a call to publish(). Once
* all copies of the returned Publisher object are destroyed, the topic
* will be automatically unadvertised.
*
* The second parameter to advertise() is the size of the message queue
* used for publishing messages. If messages are published more quickly
* than we can send them, the number here specifies how many messages to
* buffer up before throwing some away.
*/
px4::Publisher * rc_channels_pub = PX4_ADVERTISE(n, rc_channels);
px4::Rate loop_rate(10);
/**
* A count of how many messages we have sent. This is used to create
* a unique string for each message.
*/
int count = 0;
while (px4::ok()) {
/**
* This is a message object. You stuff it with data, and then publish it.
*/
PX4_TOPIC_T(rc_channels) msg;
msg.timestamp_last_valid = px4::get_time_micros();
PX4_INFO("%llu", msg.timestamp_last_valid);
/**
* The publish() function is how you send messages. The parameter
* is the message object. The type of this object must agree with the type
* given as a template parameter to the advertise<>() call, as was done
* in the constructor above.
*/
rc_channels_pub->publish(msg);
n.spinOnce();
loop_rate.sleep();
++count;
}
return 0;
}

67
src/examples/publisher/publisher_example.cpp Normal file
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@ -0,0 +1,67 @@
/****************************************************************************
*
* 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 publisher_example.cpp
* Example subscriber for ros and px4
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "publisher_example.h"
PublisherExample::PublisherExample() :
_n(),
_rc_channels_pub(PX4_ADVERTISE(_n, rc_channels))
{
}
int PublisherExample::main()
{
px4::Rate loop_rate(10);
while (px4::ok()) {
PX4_TOPIC_T(rc_channels) msg;
msg.timestamp_last_valid = px4::get_time_micros();
PX4_INFO("%llu", msg.timestamp_last_valid);
_rc_channels_pub->publish(msg);
_n.spinOnce();
loop_rate.sleep();
}
return 0;
}

51
src/examples/publisher/publisher_example.h Normal file
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@ -0,0 +1,51 @@
/****************************************************************************
*
* 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 publisher.h
* Example publisher for ros and px4
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <px4.h>
class PublisherExample {
public:
PublisherExample();
~PublisherExample() {};
int main();
protected:
px4::NodeHandle _n;
px4::Publisher * _rc_channels_pub;
};

112
src/examples/publisher/publisher_main.cpp Normal file
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@ -0,0 +1,112 @@
/****************************************************************************
*
* 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 publisher_main.cpp
* Example publisher for ros and px4
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <string.h>
#include <cstdlib>
#include "publisher_example.h"
static bool thread_running = false; /**< Deamon status flag */
static int daemon_task; /**< Handle of deamon task / thread */
namespace px4
{
bool task_should_exit = false;
}
using namespace px4;
int publisher_task_main(int argc, char *argv[]);
PX4_MAIN_FUNCTION(publisher)
{
px4::init(argc, argv, "publisher");
if (argc < 1) {
errx(1, "usage: publisher {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 = task_spawn_cmd("publisher",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
publisher_task_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
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;
}
int publisher_task_main(int argc, char *argv[])
{
warnx("starting");
PublisherExample p;
thread_running = true;
p.main();
warnx("exiting.");
thread_running = false;
return 0;
}

3
src/examples/subscriber/module.mk
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@ -37,7 +37,8 @@
MODULE_COMMAND = subscriber
SRCS = subscriber.cpp \
SRCS = subscriber_main.cpp \
subscriber_example.cpp \
subscriber_params.c
MODULE_STACKSIZE = 2400

120
src/examples/subscriber/subscriber.cpp
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@ -1,120 +0,0 @@
/*
* Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* * 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.
* * Neither the names of Stanford University or Willow Garage, Inc. 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.
*/
#include <px4.h>
#include "subscriber_params.h"
#include <cstdio>
using namespace px4;
/**
* This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
*/
void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) {
PX4_INFO("I heard: [%llu]", msg.timestamp_last_valid);
}
void rc_channels_callback2(const PX4_TOPIC_T(rc_channels) &msg) {
PX4_INFO("I heard (2): [%llu]", msg.timestamp_last_valid);
}
class RCHandler {
public:
void callback(const PX4_TOPIC_T(rc_channels) &msg) {
PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp_last_valid);
}
};
RCHandler rchandler;
namespace px4
{
bool task_should_exit = false;
}
PX4_MAIN_FUNCTION(subscriber) {
/**
* The ros::init() function needs to see argc and argv so that it can perform
* any ROS arguments and name remapping that were provided at the command line. For programmatic
* remappings you can use a different version of init() which takes remappings
* directly, but for most command-line programs, passing argc and argv is the easiest
* way to do it. The third argument to init() is the name of the node.
*
* You must call one of the versions of px4::init() before using any other
* part of the PX4/ ROS system.
*/
px4::init(argc, argv, "listener");
/**
* NodeHandle is the main access point to communications with the ROS system.
* The first NodeHandle constructed will fully initialize this node, and the last
* NodeHandle destructed will close down the node.
*/
px4::NodeHandle n;
/* Define parameters */
px4_param_t p_sub_interv = PX4_PARAM_INIT(SUB_INTERV);
px4_param_t p_test_float = PX4_PARAM_INIT(SUB_TESTF);
/* Read the parameter back for testing */
int32_t 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 = %.3f", (double)test_float);
/**
* The subscribe() call is how you tell ROS that you want to receive messages
* on a given topic. This invokes a call to the ROS
* master node, which keeps a registry of who is publishing and who
* is subscribing. Messages are passed to a callback function, here
* called chatterCallback. subscribe() returns a Subscriber object that you
* must hold on to until you want to unsubscribe. When all copies of the Subscriber
* object go out of scope, this callback will automatically be unsubscribed from
* this topic.
*
* The second parameter to the subscribe() function is the size of the message
* queue. If messages are arriving faster than they are being processed, this
* 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, sub_interval);
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback2, 1000);
PX4_SUBSCRIBE(n, rc_channels, RCHandler::callback, rchandler, 1000);
PX4_INFO("subscribed");
/**
* px4::spin() will enter a loop, pumping callbacks. With this version, all
* callbacks will be called from within this thread (the main one). px4::spin()
* will exit when Ctrl-C is pressed, or the node is shutdown by the master.
*/
n.spin();
PX4_INFO("finished, returning");
return 0;
}

78
src/examples/subscriber/subscriber_example.cpp Normal file
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@ -0,0 +1,78 @@
/****************************************************************************
*
* 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.cpp
* Example subscriber for ros and px4
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "subscriber_params.h"
#include "subscriber_example.h"
using namespace px4;
void rc_channels_callback_function(const PX4_TOPIC_T(rc_channels) &msg) {
PX4_INFO("I heard: [%llu]", msg.timestamp_last_valid);
}
SubscriberExample::SubscriberExample() :
_n(),
_sub_interval(0),
_test_float(0.0f)
{
/* Define parameters */
_p_sub_interv = PX4_PARAM_INIT(SUB_INTERV);
_p_test_float = PX4_PARAM_INIT(SUB_TESTF);
/* Read the parameter back as example */
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 = %.3f", (double)_test_float);
/* Do some subscriptions */
/* Function */
PX4_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _sub_interval);
/* Class Method */
PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000);
PX4_INFO("subscribed");
}
/**
* This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
*/
void SubscriberExample::rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) {
PX4_INFO("Subscriber callback: [%llu]", msg.timestamp_last_valid);
}

58
src/examples/subscriber/subscriber_example.h Normal file
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@ -0,0 +1,58 @@
/****************************************************************************
*
* 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.h
* Example subscriber for ros and px4
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <px4.h>
class SubscriberExample {
public:
SubscriberExample();
~SubscriberExample() {};
void spin() {_n.spin();}
protected:
px4::NodeHandle _n;
px4_param_t _p_sub_interv;
int32_t _sub_interval;
px4_param_t _p_test_float;
float _test_float;
void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg);
};

112
src/examples/subscriber/subscriber_main.cpp Normal file
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@ -0,0 +1,112 @@
/****************************************************************************
*
* 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_main.cpp
* Example subscriber for ros and px4
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <string.h>
#include <cstdlib>
#include "subscriber_example.h"
static bool thread_running = false; /**< Deamon status flag */
static int daemon_task; /**< Handle of deamon task / thread */
namespace px4
{
bool task_should_exit = false;
}
using namespace px4;
int subscriber_task_main(int argc, char *argv[]);
PX4_MAIN_FUNCTION(subscriber)
{
px4::init(argc, argv, "subscriber");
if (argc < 1) {
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 = task_spawn_cmd("subscriber",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
subscriber_task_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
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;
}
int subscriber_task_main(int argc, char *argv[])
{
warnx("starting");
SubscriberExample s;
thread_running = true;
s.spin();
warnx("exiting.");
thread_running = false;
return 0;
}

3
src/modules/mc_att_control/mc_att_control_main.cpp
View File

@ -100,8 +100,7 @@ namespace px4
bool task_should_exit = false;
}
// PX4_MAIN_FUNCTION(mc_att_control) {
// px4::init(argc, argv, "listener");
// PX4_MAIN_FUNCTION(mc_att_control) { px4::init(argc, argv, "listener");
// px4::NodeHandle n;