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

This commit is contained in:
Lorenz Meier 2014-11-09 11:57:34 +01:00
parent 1e9f431cf1
commit f36f54c621
20 changed files with 851 additions and 167 deletions
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35
CMakeLists.txt
View File

@ -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
# LIBRARIES px4
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
INCLUDE_DIRS src/include
LIBRARIES px4
CATKIN_DEPENDS roscpp rospy std_msgs
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(
${catkin_INCLUDE_DIRS}
src/platforms
src/include
)
## Declare a cpp library
# add_library(px4
# src/${PROJECT_NAME}/px4test.cpp # src/platforms/ros/ros.cpp
# )
add_library(px4
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
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
install(TARGETS px4 publisher subscriber
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/

13
makefiles/config_px4fmu-v2_test.mk
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@ -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

42
src/examples/publisher/module.mk Normal file
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@ -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

64
src/examples/publisher/publisher.cpp
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@ -26,42 +26,19 @@
*/
#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)%
/**
* 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)%
px4::init(argc, argv, "px4_publisher");
ros::NodeHandle n;
// %EndTag(NODEHANDLE)%
/**
* The advertise() function is how you tell ROS that you want to
@ -80,36 +57,24 @@ int main(int argc, char **argv)
* 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);
// %EndTag(LOOP_RATE)%
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)%
while (px4::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;
// %EndTag(FILL_MESSAGE)%
// %Tag(ROSCONSOLE)%
px4_warnx("%lu", msg.timestamp_last_valid);
// %EndTag(ROSCONSOLE)%
msg.timestamp_last_valid = px4::get_time_micros();
PX4_INFO("%lu", msg.timestamp_last_valid);
/**
* The publish() function is how you send messages. The parameter
@ -117,21 +82,14 @@ int main(int argc, char **argv)
* 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();
// %EndTag(SPINONCE)%
px4::spin_once();
// %Tag(RATE_SLEEP)%
loop_rate.sleep();
// %EndTag(RATE_SLEEP)%
++count;
}
return 0;
}
// %EndTag(FULLTEXT)%

42
src/examples/subscriber/module.mk Normal file
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@ -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

31
src/examples/subscriber/subscriber.cpp
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@ -25,20 +25,18 @@
* POSSIBILITY OF SUCH DAMAGE.
*/
// %Tag(FULLTEXT)%
#include "ros/ros.h"
#include "std_msgs/String.h"
#include <px4.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)
{
@ -49,10 +47,10 @@ int main(int argc, char **argv)
* 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.
* You must call one of the versions of px4::init() before using any other
* 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.
@ -76,19 +74,14 @@ int main(int argc, char **argv)
* is the number of messages that will be buffered up before beginning to throw
* away the oldest ones.
*/
// %Tag(SUBSCRIBER)%
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
* callbacks will be called from within this thread (the main one). ros::spin()
* 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.
*/
// %Tag(SPIN)%
ros::spin();
// %EndTag(SPIN)%
px4::spin();
return 0;
}
// %EndTag(FULLTEXT)%

15
include/px4.h → src/include/px4.h
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@ -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_infox ROS_INFO
#define PX4_WARN ROS_WARN
#define PX4_INFO ROS_INFO
#else
/*
* Building for NuttX
*/
#define px4_warnx warnx
#define px4_infox warnx
#define PX4_WARN warnx
#define PX4_INFO warnx
#endif
#include "../platforms/px4_defines.h"
#include "../platforms/px4_middleware.h"

0
platforms/empty.c → src/platforms/empty.c
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42
src/platforms/nuttx/module.mk Normal file
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@ -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

75
src/platforms/nuttx/px4_nuttx_impl.cpp Normal file
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@ -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
}
}

40
src/platforms/nuttx/px4_publisher.cpp Normal file
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@ -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
*/

40
src/platforms/nuttx/px4_subscriber.cpp Normal file
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@ -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
*/

51
src/platforms/px4_defines.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 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

95
src/platforms/px4_middleware.h Normal file
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@ -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

46
src/platforms/px4_nodehandle.h Normal file
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@ -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
{
};
}

46
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/****************************************************************************
*
* 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
{
};
}

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/****************************************************************************
*
* 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
{
};
}

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/****************************************************************************
*
* 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
*/

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/****************************************************************************
*
* 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();
}
}

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/****************************************************************************
*
* 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
*/