Restructuring of generic middleware support files, wrapping of the main ROS calls, skeletons for publishers / subscribers

CMakeLists.txt

@@ -80,10 +80,10 @@ generate_messages(
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-  INCLUDE_DIRS include
+  INCLUDE_DIRS src/include
-#  LIBRARIES px4
+  LIBRARIES px4
-#  CATKIN_DEPENDS roscpp rospy std_msgs
+  CATKIN_DEPENDS roscpp rospy std_msgs
-#  DEPENDS system_lib
+  DEPENDS system_lib
   CATKIN_DEPENDS message_runtime
 )
 
@@ -93,15 +93,22 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(include)
 include_directories(
   ${catkin_INCLUDE_DIRS}
+  src/platforms
+  src/include
 )
 
 ## Declare a cpp library
-# add_library(px4
+add_library(px4
-#   src/${PROJECT_NAME}/px4test.cpp # src/platforms/ros/ros.cpp
+  src/platforms/ros/px4_ros_impl.cpp
-# )
+  src/platforms/ros/px4_publisher.cpp
+  src/platforms/ros/px4_subscriber.cpp
+)
+
+target_link_libraries(px4
+  ${catkin_LIBRARIES}
+)
 
 ## Declare a test publisher
 add_executable(publisher src/examples/publisher/publisher.cpp)
@@ -113,6 +120,7 @@ add_dependencies(publisher px4_generate_messages_cpp)
 ## Specify libraries to link a library or executable target against
 target_link_libraries(publisher
   ${catkin_LIBRARIES}
+  px4
 )
 
 ## Declare a test subscriber
@@ -125,6 +133,7 @@ add_dependencies(subscriber px4_generate_messages_cpp)
 ## Specify libraries to link a library or executable target against
 target_link_libraries(subscriber
   ${catkin_LIBRARIES}
+  px4
 )
 
 #############
@@ -142,11 +151,11 @@ target_link_libraries(subscriber
 # )
 
 ## Mark executables and/or libraries for installation
-# install(TARGETS px4 mc_attitude_control
+install(TARGETS px4 publisher subscriber
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+)
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/

makefiles/config_px4fmu-v2_test.mk

@@ -34,9 +34,11 @@ MODULES		+= systemcmds/mtd
 MODULES		+= systemcmds/ver
 
 #
-# Testing modules
+# Example modules
 #
 MODULES		+= examples/matlab_csv_serial
+MODULES		+= examples/subscriber
+MODULES		+= examples/publisher
 
 #
 # Library modules
@@ -44,16 +46,15 @@ MODULES		+= examples/matlab_csv_serial
 MODULES		+= modules/systemlib
 MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/uORB
-LIBRARIES	+= lib/mathlib/CMSIS
 MODULES		+= lib/mathlib
 MODULES		+= lib/mathlib/math/filter
 MODULES		+= lib/conversion
-
-#
-# Libraries
-#
 LIBRARIES	+= lib/mathlib/CMSIS
+MODULES		+= platforms/nuttx
 
+#
+# Tests
+#
 MODULES 	+= modules/unit_test
 MODULES		+= modules/mavlink/mavlink_tests
 MODULES 	+= modules/commander/commander_tests

src/examples/publisher/module.mk

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Publisher Example Application
+#
+
+MODULE_COMMAND	= publisher
+
+SRCS		= publisher.cpp
+
+MODULE_STACKSIZE = 1200

src/examples/publisher/publisher.cpp

@@ -26,112 +26,70 @@
  */
 
 #include <px4.h>
-
-// %EndTag(ROS_HEADER)%
-// %Tag(MSG_HEADER)%
-#include "std_msgs/String.h"
-// %EndTag(MSG_HEADER)%
-
-#include <sstream>
 #include <px4/rc_channels.h>
 
+#include <sstream>
+
 /**
- * This tutorial demonstrates simple sending of messages over the ROS system.
+ * This tutorial demonstrates simple sending of messages over the PX4 middleware system.
  */
 int main(int argc, char **argv)
 {
-  /**
-   * 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 ros::init() before using any other
-   * part of the ROS system.
-   */
-// %Tag(INIT)%
-  ros::init(argc, argv, "px4_publisher");
-// %EndTag(INIT)%
 
-  /**
+	px4::init(argc, argv, "px4_publisher");
-   * 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.
-   */
-// %Tag(NODEHANDLE)%
-  ros::NodeHandle n;
-// %EndTag(NODEHANDLE)%
 
-  /**
+	ros::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.
-   */
-// %Tag(PUBLISHER)%
-  ros::Publisher rc_channels_pub = n.advertise<px4::rc_channels>("rc_channels", 1000);
-// %EndTag(PUBLISHER)%
 
-// %Tag(LOOP_RATE)%
+	/**
-  ros::Rate loop_rate(10);
+	 * The advertise() function is how you tell ROS that you want to
-// %EndTag(LOOP_RATE)%
+	 * 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.
+	 */
+	ros::Publisher rc_channels_pub = n.advertise<px4::rc_channels>("rc_channels", 1000);
 
-  /**
+	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.
-   */
-// %Tag(ROS_OK)%
-  int count = 0;
-  while (ros::ok())
-  {
-// %EndTag(ROS_OK)%
-    /**
-     * This is a message object. You stuff it with data, and then publish it.
-     */
-// %Tag(FILL_MESSAGE)%
-    px4::rc_channels msg;
 
-    ros::Time time = ros::Time::now();
+	/**
-    msg.timestamp_last_valid = time.sec * 1e6 + time.nsec;
+	 * A count of how many messages we have sent. This is used to create
-// %EndTag(FILL_MESSAGE)%
+	 * a unique string for each message.
+	 */
+	int count = 0;
 
-// %Tag(ROSCONSOLE)%
+	while (px4::ok()) {
-   px4_warnx("%lu", msg.timestamp_last_valid);
+		/**
-// %EndTag(ROSCONSOLE)%
+		 * This is a message object. You stuff it with data, and then publish it.
+		 */
+		px4::rc_channels msg;
 
-    /**
+		msg.timestamp_last_valid = px4::get_time_micros();
-     * The publish() function is how you send messages. The parameter
+		PX4_INFO("%lu", msg.timestamp_last_valid);
-     * 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.
-     */
-// %Tag(PUBLISH)%
-    rc_channels_pub.publish(msg);
-// %EndTag(PUBLISH)%
 
-// %Tag(SPINONCE)%
+		/**
-    ros::spinOnce();
+		 * The publish() function is how you send messages. The parameter
-// %EndTag(SPINONCE)%
+		 * 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);
 
-// %Tag(RATE_SLEEP)%
+		px4::spin_once();
-    loop_rate.sleep();
+
-// %EndTag(RATE_SLEEP)%
+		loop_rate.sleep();
-    ++count;
+		++count;
-  }
+	}
 
 
-  return 0;
+	return 0;
 }
-// %EndTag(FULLTEXT)%

src/examples/subscriber/module.mk

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Subscriber Example Application
+#
+
+MODULE_COMMAND	= subscriber
+
+SRCS		= subscriber.cpp
+
+MODULE_STACKSIZE = 1200

src/examples/subscriber/subscriber.cpp

@@ -25,70 +25,63 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-// %Tag(FULLTEXT)%
+#include <px4.h>
-#include "ros/ros.h"
-#include "std_msgs/String.h"
 #include "px4/rc_channels.h"
 
 /**
- * This tutorial demonstrates simple receipt of messages over the ROS system.
+ * This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
  */
-// %Tag(CALLBACK)%
+void rc_channels_callback(const px4::rc_channels::ConstPtr &msg)
-void rc_channels_callback(const px4::rc_channels::ConstPtr& msg)
 {
-  ROS_INFO("I heard: [%lu]", msg->timestamp_last_valid);
+	PX4_INFO("I heard: [%lu]", msg->timestamp_last_valid);
 }
-// %EndTag(CALLBACK)%
+
+PX4_MAIN_FUNCTION(subscriber)
 
 int main(int argc, char **argv)
 {
-  /**
+	/**
-   * The ros::init() function needs to see argc and argv so that it can perform
+	 * 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
+	 * 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
+	 * 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
+	 * 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.
+	 * way to do it.  The third argument to init() is the name of the node.
-   *
+	 *
-   * You must call one of the versions of ros::init() before using any other
+	 * You must call one of the versions of px4::init() before using any other
-   * part of the ROS system.
+	 * part of the PX4/ ROS system.
-   */
+	 */
-  ros::init(argc, argv, "listener");
+	px4::init(argc, argv, "listener");
 
-  /**
+	/**
-   * NodeHandle is the main access point to communications with the ROS system.
+	 * NodeHandle is the main access point to communications with the ROS system.
-   * The first NodeHandle constructed will fully initialize this node, and the last
+	 * The first NodeHandle constructed will fully initialize this node, and the last
-   * NodeHandle destructed will close down the node.
+	 * NodeHandle destructed will close down the node.
-   */
+	 */
-  ros::NodeHandle n;
+	ros::NodeHandle n;
 
-  /**
+	/**
-   * The subscribe() call is how you tell ROS that you want to receive messages
+	 * 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
+	 * on a given topic.  This invokes a call to the ROS
-   * master node, which keeps a registry of who is publishing and who
+	 * master node, which keeps a registry of who is publishing and who
-   * is subscribing.  Messages are passed to a callback function, here
+	 * is subscribing.  Messages are passed to a callback function, here
-   * called chatterCallback.  subscribe() returns a Subscriber object that you
+	 * called chatterCallback.  subscribe() returns a Subscriber object that you
-   * must hold on to until you want to unsubscribe.  When all copies of the Subscriber
+	 * 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
+	 * object go out of scope, this callback will automatically be unsubscribed from
-   * this topic.
+	 * this topic.
-   *
+	 *
-   * The second parameter to the subscribe() function is the size of the message
+	 * 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
+	 * 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
+	 * is the number of messages that will be buffered up before beginning to throw
-   * away the oldest ones.
+	 * away the oldest ones.
-   */
+	 */
-// %Tag(SUBSCRIBER)%
+	ros::Subscriber sub = n.subscribe("rc_channels", 1000, rc_channels_callback);
-  ros::Subscriber sub = n.subscribe("rc_channels", 1000, rc_channels_callback);
-// %EndTag(SUBSCRIBER)%
 
-  /**
+	/**
-   * ros::spin() will enter a loop, pumping callbacks.  With this version, all
+	 * px4::spin() will enter a loop, pumping callbacks.  With this version, all
-   * callbacks will be called from within this thread (the main one).  ros::spin()
+	 * 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.
+	 * will exit when Ctrl-C is pressed, or the node is shutdown by the master.
-   */
+	 */
-// %Tag(SPIN)%
+	px4::spin();
-  ros::spin();
-// %EndTag(SPIN)%
 
-  return 0;
+	return 0;
 }
-// %EndTag(FULLTEXT)%

src/include/px4.h

@@ -37,17 +37,24 @@
  * Main system header with common convenience functions
  */
 
+#pragma once
+
+#include <stdbool.h>
+
 #if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
 /*
  * Building for running within the ROS environment
  */
 #include "ros/ros.h"
-#define px4_warnx ROS_WARN
+#define PX4_WARN ROS_WARN
-#define px4_infox ROS_INFO
+#define PX4_INFO ROS_INFO
 #else
 /*
  * Building for NuttX
  */
-#define px4_warnx warnx
+#define PX4_WARN warnx
-#define px4_infox warnx
+#define PX4_INFO warnx
 #endif
+
+#include "../platforms/px4_defines.h"
+#include "../platforms/px4_middleware.h"

src/platforms/nuttx/module.mk

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# NuttX / uORB adapter library
+#
+
+SRCS		 = 	px4_nuttx_impl.cpp \
+			px4_publisher.cpp \
+			px4_subscriber.cpp
+
+MAXOPTIMIZATION	 = -Os

src/platforms/nuttx/px4_nuttx_impl.cpp

@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   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 px4_nuttx_impl.cpp
+ *
+ * PX4 Middleware Wrapper NuttX Implementation
+ */
+
+#include <px4.h>
+
+extern bool task_should_exit;
+
+namespace px4
+{
+
+void init(int argc, char *argv[], const char *process_name)
+{
+	px4_warn("process: %s", process_name);
+	return 0;
+}
+
+uint64_t get_time_micros()
+{
+	return hrt_absolute_time();
+}
+
+bool ok()
+{
+	return !task_should_exit;
+}
+
+void spin_once()
+{
+	// XXX check linked list of topics with orb_check() here
+
+}
+
+void spin()
+{
+	// XXX block waiting for updated topics here
+
+}
+
+}

src/platforms/nuttx/px4_publisher.cpp

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   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 px4_publisher.cpp
+ *
+ * PX4 Middleware Wrapper for Publisher
+ */
+
+

src/platforms/nuttx/px4_subscriber.cpp

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   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 px4_subscriber.cpp
+ *
+ * PX4 Middleware Wrapper Subscriber
+ */
+
+

src/platforms/px4_defines.h

@@ -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 px4_defines.h
+ *
+ * Generally used magic defines
+ */
+
+#pragma once
+
+#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
+/*
+ * Building for running within the ROS environment
+ */
+#define __EXPORT
+#define PX4_MAIN_FUNCTION(_prefix)
+#else
+#include <nuttx/config.h>
+#define PX4_MAIN_FUNCTION(_prefix) __EXPORT int _prefix##main(int argc, char **argv)() { return main(argc, argv); }
+#endif

src/platforms/px4_middleware.h

@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   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 px4_middleware.h
+ *
+ * PX4 generic middleware wrapper
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+namespace px4
+{
+
+void init(int argc, char *argv[], const char *process_name);
+
+uint64_t get_time_micros();
+
+bool ok();
+
+void spin_once();
+
+void spin();
+
+class Rate
+{
+
+public:
+	explicit Rate(unsigned rate_hz) { sleep_interval = 1e6 / rate_hz; }
+
+	void sleep() { usleep(sleep_interval); }
+
+private:
+	uint64_t sleep_interval;
+
+};
+
+// /**
+//  * A limiter/ saturation.
+//  * The output of update is the input, bounded
+//  * by min/max.
+//  */
+// class __EXPORT BlockLimit : public Block
+// {
+// public:
+// // methods
+// 	BlockLimit(SuperBlock *parent, const char *name) :
+// 		Block(parent, name),
+// 		_min(this, "MIN"),
+// 		_max(this, "MAX")
+// 	{};
+// 	virtual ~BlockLimit() {};
+// 	float update(float input);
+// // accessors
+// 	float getMin() { return _min.get(); }
+// 	float getMax() { return _max.get(); }
+// protected:
+// // attributes
+// 	control::BlockParamFloat _min;
+// 	control::BlockParamFloat _max;
+// };
+
+} // namespace px4

src/platforms/px4_nodehandle.h

@@ -0,0 +1,46 @@
+/****************************************************************************
+ *
+ *   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 px4_nodehandle.h
+ *
+ * PX4 Middleware Wrapper Node Handle
+ */
+
+namespace px4
+{
+class NodeHandle
+{
+
+};
+}

src/platforms/px4_publisher.h

@@ -0,0 +1,46 @@
+/****************************************************************************
+ *
+ *   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 px4_nodehandle.h
+ *
+ * PX4 Middleware Wrapper Node Handle
+ */
+
+namespace px4
+{
+class Publisher
+{
+
+};
+}

src/platforms/px4_subscriber.h

@@ -0,0 +1,46 @@
+/****************************************************************************
+ *
+ *   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 px4_subscriber.h
+ *
+ * PX4 Middleware Wrapper Subscriber
+ */
+
+namespace px4
+{
+class Subscriber
+{
+
+};
+}

src/platforms/ros/px4_publisher.cpp

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   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 px4_publisher.cpp
+ *
+ * PX4 Middleware Wrapper for Publisher
+ */
+
+

src/platforms/ros/px4_ros_impl.cpp

@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   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 px4_ros_impl.cpp
+ *
+ * PX4 Middleware Wrapper ROS Implementation
+ */
+
+#include <px4.h>
+
+namespace px4
+{
+
+void init(int argc, char *argv[], const char *process_name)
+{
+	ros::init(argc, argv, process_name);
+}
+
+uint64_t get_time_micros()
+{
+	ros::Time time = ros::Time::now();
+	return time.sec * 1e6 + time.nsec / 1000;
+}
+
+bool ok()
+{
+	return ros::ok();
+}
+
+void spin_once()
+{
+	ros::spinOnce();
+}
+
+void spin()
+{
+	ros::spin();
+}
+
+}

src/platforms/ros/px4_subscriber.cpp

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   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 px4_subscriber.cpp
+ *
+ * PX4 Middleware Wrapper Subscriber
+ */
+
+