bring up param wrapper for px4, moved global include file

6 files changed, 123 insertions, 24 deletions

diff --git a/src/examples/subscriber/module.mk b/src/examples/subscriber/module.mk
index 481c36ea7..90b4d8ffc 100644
--- a/src/examples/subscriber/module.mk
+++ b/src/examples/subscriber/module.mk
@@ -37,6 +37,7 @@
 
 MODULE_COMMAND	= subscriber
 
-SRCS		= subscriber.cpp
+SRCS		= subscriber.cpp \
+		  subscriber_params.c
 
 MODULE_STACKSIZE = 2400
diff --git a/src/examples/subscriber/subscriber.cpp b/src/examples/subscriber/subscriber.cpp
index e52d661a9..cc9b7a794 100644
--- a/src/examples/subscriber/subscriber.cpp
+++ b/src/examples/subscriber/subscriber.cpp
@@ -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
diff --git a/src/examples/subscriber/subscriber_params.c b/src/examples/subscriber/subscriber_params.c
new file mode 100644
index 000000000..e28bfbc36
--- /dev/null
+++ b/src/examples/subscriber/subscriber_params.c
@@ -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);
diff --git a/src/include/px4.h b/src/include/px4.h
index 2d5d25964..ca702d63c 100644
--- a/src/include/px4.h
+++ b/src/include/px4.h
@@ -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"
diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h
index a10df858a..a71507510 100644
--- a/src/platforms/px4_defines.h
+++ b/src/platforms/px4_defines.h
@@ -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
diff --git a/src/platforms/px4_includes.h b/src/platforms/px4_includes.h
new file mode 100644
index 000000000..a3b59b766
--- /dev/null
+++ b/src/platforms/px4_includes.h
@@ -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