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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-10 16:22:19 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-10 16:22:19 +0100 |
commit | 8ae1c9763d649470ae7c55e35507509dbb2612ff (patch) | |
tree | f4ed384d4c7bcd0e6bda38f8f587981b597ae092 /src/examples/publisher/publisher.cpp | |
parent | cb77c16601338d2d0b22dc71ef057ec4d91652c4 (diff) | |
download | px4-firmware-8ae1c9763d649470ae7c55e35507509dbb2612ff.tar.gz px4-firmware-8ae1c9763d649470ae7c55e35507509dbb2612ff.tar.bz2 px4-firmware-8ae1c9763d649470ae7c55e35507509dbb2612ff.zip |
write publisher example as class
Diffstat (limited to 'src/examples/publisher/publisher.cpp')
-rw-r--r-- | src/examples/publisher/publisher.cpp | 100 |
1 files changed, 0 insertions, 100 deletions
diff --git a/src/examples/publisher/publisher.cpp b/src/examples/publisher/publisher.cpp deleted file mode 100644 index 8ef147493..000000000 --- a/src/examples/publisher/publisher.cpp +++ /dev/null @@ -1,100 +0,0 @@ -/* - * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * * 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. - * * Neither the names of Stanford University or Willow Garage, Inc. 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. - */ - -#include <px4.h> - -using namespace px4; - -/** - * This tutorial demonstrates simple sending of messages over the PX4 middleware system. - */ - -namespace px4 -{ -bool task_should_exit = false; -} - -PX4_MAIN_FUNCTION(publisher) -{ - - px4::init(argc, argv, "px4_publisher"); - - px4::NodeHandle n; - - /** - * The advertise() function is how you tell ROS that you want to - * publish on a given topic name. This invokes a call to the ROS - * master node, which keeps a registry of who is publishing and who - * is subscribing. After this advertise() call is made, the master - * node will notify anyone who is trying to subscribe to this topic name, - * and they will in turn negotiate a peer-to-peer connection with this - * node. advertise() returns a Publisher object which allows you to - * publish messages on that topic through a call to publish(). Once - * all copies of the returned Publisher object are destroyed, the topic - * will be automatically unadvertised. - * - * The second parameter to advertise() is the size of the message queue - * used for publishing messages. If messages are published more quickly - * than we can send them, the number here specifies how many messages to - * buffer up before throwing some away. - */ - px4::Publisher * rc_channels_pub = PX4_ADVERTISE(n, rc_channels); - - - 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. - */ - int count = 0; - - while (px4::ok()) { - /** - * This is a message object. You stuff it with data, and then publish it. - */ - PX4_TOPIC_T(rc_channels) msg; - - msg.timestamp_last_valid = px4::get_time_micros(); - PX4_INFO("%llu", msg.timestamp_last_valid); - - /** - * The publish() function is how you send messages. The parameter - * is the message object. The type of this object must agree with the type - * given as a template parameter to the advertise<>() call, as was done - * in the constructor above. - */ - rc_channels_pub->publish(msg); - - n.spinOnce(); - - loop_rate.sleep(); - ++count; - } - - return 0; -} |