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Update simple app example to use multiplatform API

This commit is contained in:
Lorenz Meier 2015-12-23 09:12:29 +01:00
parent 745dc13d67
commit 8b76d5e941
1 changed files with 9 additions and 6 deletions
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15
src/examples/px4_simple_app/px4_simple_app.c
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@ -39,6 +39,8 @@
*/
#include <px4_config.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
@ -52,7 +54,7 @@ __EXPORT int px4_simple_app_main(int argc, char *argv[]);
int px4_simple_app_main(int argc, char *argv[])
{
printf("Hello Sky!\n");
PX4_INFO("Hello Sky!");
/* subscribe to sensor_combined topic */
int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
@ -64,7 +66,7 @@ int px4_simple_app_main(int argc, char *argv[])
orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
/* one could wait for multiple topics with this technique, just using one here */
struct pollfd fds[] = {
px4_pollfd_struct_t fds[] = {
{ .fd = sensor_sub_fd, .events = POLLIN },
/* there could be more file descriptors here, in the form like:
* { .fd = other_sub_fd, .events = POLLIN },
@ -75,18 +77,18 @@ int px4_simple_app_main(int argc, char *argv[])
for (int i = 0; i < 5; i++) {
/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
int poll_ret = poll(fds, 1, 1000);
int poll_ret = px4_poll(fds, 1, 1000);
/* handle the poll result */
if (poll_ret == 0) {
/* this means none of our providers is giving us data */
printf("[px4_simple_app] Got no data within a second\n");
PX4_ERR("[px4_simple_app] Got no data within a second");
} else if (poll_ret < 0) {
/* this is seriously bad - should be an emergency */
if (error_counter < 10 || error_counter % 50 == 0) {
/* use a counter to prevent flooding (and slowing us down) */
printf("[px4_simple_app] ERROR return value from poll(): %d\n"
PX4_ERR("[px4_simple_app] ERROR return value from poll(): %d"
, poll_ret);
}
@ -99,7 +101,7 @@ int px4_simple_app_main(int argc, char *argv[])
struct sensor_combined_s raw;
/* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
printf("[px4_simple_app] Accelerometer:\t%8.4f\t%8.4f\t%8.4f\n",
PX4_WARN("[px4_simple_app] Accelerometer:\t%8.4f\t%8.4f\t%8.4f",
(double)raw.accelerometer_m_s2[0],
(double)raw.accelerometer_m_s2[1],
(double)raw.accelerometer_m_s2[2]);
@ -116,6 +118,7 @@ int px4_simple_app_main(int argc, char *argv[])
*/
}
}
PX4_INFO("exiting");
return 0;
}