/****************************************************************************
*
* 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>
#include <unistd.h>
namespace px4
{
__EXPORT void init(int argc, char *argv[], const char *process_name);
__EXPORT uint64_t get_time_micros();
#if defined(__PX4_ROS)
/**
* Returns true if the app/task should continue to run
*/
inline bool ok() { return ros::ok(); }
#else
extern bool task_should_exit;
/**
* Returns true if the app/task should continue to run
*/
__EXPORT inline bool ok() { return !task_should_exit; }
#endif
class Rate
{
public:
/**
* Construct the Rate object and set rate
* @param rate_hz rate from which sleep time is calculated in Hz
*/
explicit Rate(unsigned rate_hz) { sleep_interval = 1e6 / rate_hz; }
/**
* Sleep for 1/rate_hz s
*/
void sleep() { usleep(sleep_interval); }
private:
uint64_t sleep_interval;
};
} // namespace px4
