make param wrapper macros compatible for px4 and ros, needs cleanup

5 files changed, 70 insertions, 12 deletions

diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index 4bfa7a087..435c240bf 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -37,13 +37,14 @@
 # Some useful paths.
 #
 # Note that in general we always keep directory paths with the separator
-# at the end, and join paths without explicit separators. This reduces 
+# at the end, and join paths without explicit separators. This reduces
 # the number of duplicate slashes we have lying around in paths,
 # and is consistent with joining the results of $(dir) and $(notdir).
 #
 export PX4_INCLUDE_DIR	 = $(abspath $(PX4_BASE)/src/include)/
 export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src)/
 export PX4_LIB_DIR	 = $(abspath $(PX4_BASE)/src/lib)/
+export PX4_PLATFORMS_DIR = $(abspath $(PX4_BASE)/src/platforms)/
 export PX4_MK_DIR	 = $(abspath $(PX4_BASE)/makefiles)/
 export NUTTX_SRC	 = $(abspath $(PX4_BASE)/NuttX/nuttx)/
 export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink/include/mavlink/v1.0)/
@@ -61,7 +62,8 @@ export ARCHIVE_DIR	 = $(abspath $(PX4_BASE)/Archives)/
 export INCLUDE_DIRS	:= $(PX4_MODULE_SRC) \
 			   $(PX4_MODULE_SRC)/modules/ \
 			   $(PX4_INCLUDE_DIR) \
-			   $(PX4_LIB_DIR)
+			   $(PX4_LIB_DIR) \
+			   $(PX4_PLATFORMS_DIR)
 
 #
 # Tools
diff --git a/src/examples/subscriber/subscriber.cpp b/src/examples/subscriber/subscriber.cpp
index cc9b7a794..68003b6df 100644
--- a/src/examples/subscriber/subscriber.cpp
+++ b/src/examples/subscriber/subscriber.cpp
@@ -26,6 +26,7 @@
  */
 
 #include <px4.h>
+#include "subscriber_params.h"
 
 using namespace px4;
 
@@ -75,8 +76,8 @@ PX4_MAIN_FUNCTION(subscriber) {
 	px4::NodeHandle n;
 
 	/* Define parameters */
-	px4_param_t p_sub_interv = PX4_PARAM_INIT("SUB_INTERV", 100);
-	px4_param_t p_test_float = PX4_PARAM_INIT("SUB_TESTF", 3.14f);
+	px4_param_t p_sub_interv = PX4_PARAM_INIT(SUB_INTERV);
+	px4_param_t p_test_float = PX4_PARAM_INIT(SUB_TESTF);
 
 	/* Read the parameter back for testing */
 	int32_t sub_interval;
diff --git a/src/examples/subscriber/subscriber_params.c b/src/examples/subscriber/subscriber_params.c
index e28bfbc36..0d36f5021 100644
--- a/src/examples/subscriber/subscriber_params.c
+++ b/src/examples/subscriber/subscriber_params.c
@@ -38,18 +38,19 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <systemlib/param/param.h>
+#include <px4_defines.h>
+#include "subscriber_params.h"
 
 /**
  * Interval of one subscriber in the example in ms
  *
  * @group Subscriber Example
  */
-PARAM_DEFINE_INT32(SUB_INTERV, 100);
+PARAM_DEFINE_INT32(SUB_INTERV, PX4_PARAM_DEFAULT_VALUE_NAME(SUB_INTERV));
 
 /**
  * Float Demonstration Parameter in the Example
  *
  * @group Subscriber Example
  */
-PARAM_DEFINE_FLOAT(SUB_TESTF, 3.14f);
+PARAM_DEFINE_FLOAT(SUB_TESTF, PX4_PARAM_DEFAULT_VALUE_NAME(SUB_TESTF));
diff --git a/src/examples/subscriber/subscriber_params.h b/src/examples/subscriber/subscriber_params.h
new file mode 100644
index 000000000..3f3ff5bce
--- /dev/null
+++ b/src/examples/subscriber/subscriber_params.h
@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   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.h
+ * Default parameters for the subscriber example
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+#pragma once
+
+#define SUB_INTERV_DEFAULT_VALUE 100
+#define SUB_TESTF_DEFAULT_VALUE 3.14f
diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h
index a71507510..6760f57ea 100644
--- a/src/platforms/px4_defines.h
+++ b/src/platforms/px4_defines.h
@@ -39,11 +39,15 @@
 
 #pragma once
 
+#define PX4_PARAM_DEFAULT_VALUE_NAME(_name) _name##_DEFAULT_VALUE
+
+
 #if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
 /*
  * Building for running within the ROS environment
  */
 #define __EXPORT
+#include "ros/ros.h"
 #define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv)
 #define PX4_WARN ROS_WARN
 #define PX4_INFO ROS_INFO
@@ -51,18 +55,21 @@
 #define PX4_TOPIC_T(_name) _name
 #define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, &_obj);
 #define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf);
-typedef const std::string px4_param_t;
-static inline px4_param_t ROS_PARAM_SET(const std::string &name, int32_t value) {
+typedef const char* px4_param_t;
+static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, int value) {
 	ros::param::set(name, value);
 	return (px4_param_t)name;
 };
-static inline px4_param_t ROS_PARAM_SET(const std::string &name, float value) {
+static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value) {
 	ros::param::set(name, value);
 	return (px4_param_t)name;
 };
-#define PX4_PARAM_INIT(_name, _default) ROS_PARAM_SET(_name, _default)
+// #define PARAM_DEFINE_INT32(_name, _default) static const int PX4_ROS_PARAM_DEFAULT_VALUE_NAME(_name) = _default;
+// #define PARAM_DEFINE_FLOAT(_name, _default) static const float PX4_ROS_PARAM_DEFAULT_VALUE_NAME(_name) = _default;
+#define PX4_PARAM_INIT(_name) PX4_ROS_PARAM_SET(#_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name))
 // #define PX4_PARAM_INIT(_name, _default) ros::param::set(_name, _default)
 #define PX4_PARAM_GET(_handle, _destpt) ros::param::get(_handle, *_destpt)
+#define PX4_PARAM_INT32_T int //XXX
 
 #else
 /*
@@ -78,8 +85,9 @@ static inline px4_param_t ROS_PARAM_SET(const std::string &name, float value) {
 #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;
-#define PX4_PARAM_INIT(_name, _default) param_find(_name)
+#define PX4_PARAM_INIT(_name) param_find(#_name)
 #define PX4_PARAM_GET(_handle, _destpt) param_get(_handle, _destpt)
+#define PX4_PARAM_INT32_T int32_t
 #endif
 
 /* Overload the PX4_SUBSCRIBE macro to suppport methods and pure functions as callback */
@@ -92,3 +100,6 @@ typedef param_t px4_param_t;
 
 /* wrapper for rotation matrices stored in arrays */
 #define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y)
+
+// #define PX4_PARAM_DEFAULT_INT32(_name, _value) static const PX4_PARAM_INT32_T PX4_PARAM_DEFAULT_VALUE_NAME(_name) = _value;
+// #define PX4_PARAM_DEFAULT_FLOAT(_name, _value) static const float PX4_PARAM_DEFAULT_VALUE_NAME(_name) = _value;