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bring up param wrapper for px4, moved global include file

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This commit is contained in:
Thomas Gubler
2014-12-03 15:11:27 +01:00
parent 1c79f0cef1
commit 924350a5de
6 changed files with 123 additions and 24 deletions
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src/examples/subscriber/module.mk
+2 -1
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@@ -37,6 +37,7 @@
MODULE_COMMAND = subscriber
SRCS = subscriber.cpp
SRCS = subscriber.cpp \
subscriber_params.c
MODULE_STACKSIZE = 2400
src/examples/subscriber/subscriber.cpp
+1 -1
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@@ -84,7 +84,7 @@ PX4_MAIN_FUNCTION(subscriber) {
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 = %f", (double)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
src/examples/subscriber/subscriber_params.c
+55
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@@ -0,0 +1,55 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file subscriber_params.c
* Parameters for the subscriber example
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <systemlib/param/param.h>
/**
* Interval of one subscriber in the example in ms
*
* @group Subscriber Example
*/
PARAM_DEFINE_INT32(SUB_INTERV, 100);
/**
* Float Demonstration Parameter in the Example
*
* @group Subscriber Example
*/
PARAM_DEFINE_FLOAT(SUB_TESTF, 3.14f);
src/include/px4.h
+1 -21
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@@ -39,27 +39,7 @@
#pragma once
#include <stdbool.h>
#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
/*
* Building for running within the ROS environment
*/
#include "ros/ros.h"
#include "px4/rc_channels.h"
#else
/*
* Building for NuttX
*/
#include <nuttx/config.h>
#include <uORB/uORB.h>
#include <uORB/topics/rc_channels.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#endif
#include "../platforms/px4_includes.h"
#include "../platforms/px4_defines.h"
#include "../platforms/px4_middleware.h"
#include "../platforms/px4_nodehandle.h"
src/platforms/px4_defines.h
+3 -1
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@@ -63,10 +63,12 @@ static inline px4_param_t ROS_PARAM_SET(const std::string &name, float value) {
#define PX4_PARAM_INIT(_name, _default) ROS_PARAM_SET(_name, _default)
// #define PX4_PARAM_INIT(_name, _default) ros::param::set(_name, _default)
#define PX4_PARAM_GET(_handle, _destpt) ros::param::get(_handle, *_destpt)
#else
/*
* Building for NuttX
*/
#include <platforms/px4_includes.h>
#define PX4_MAIN_FUNCTION(_prefix) extern "C" __EXPORT int _prefix##_main(int argc, char *argv[])
#define PX4_WARN warnx
#define PX4_WARN warnx
@@ -75,7 +77,7 @@ static inline px4_param_t ROS_PARAM_SET(const std::string &name, float value) {
#define PX4_TOPIC_T(_name) _name##_s
#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, _obj, std::placeholders::_1), _interval)
#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, std::placeholders::_1), _interval)
typedef param_t px4_param_t
typedef param_t px4_param_t;
#define PX4_PARAM_INIT(_name, _default) param_find(_name)
#define PX4_PARAM_GET(_handle, _destpt) param_get(_handle, _destpt)
#endif
src/platforms/px4_includes.h
+61
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@@ -0,0 +1,61 @@
/****************************************************************************
*
* 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_includes.h
*
* Includes headers depending on the build target
*/
#pragma once
#include <stdbool.h>
#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
/*
* Building for running within the ROS environment
*/
#include "ros/ros.h"
#include "px4/rc_channels.h"
#else
/*
* Building for NuttX
*/
#include <nuttx/config.h>
#include <uORB/uORB.h>
#include <uORB/topics/rc_channels.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#endif