write publisher example as class

5 files changed, 232 insertions, 101 deletions

diff --git a/src/examples/publisher/module.mk b/src/examples/publisher/module.mk
index 0fc4316ec..4f941cd43 100644
--- a/src/examples/publisher/module.mk
+++ b/src/examples/publisher/module.mk
@@ -37,6 +37,7 @@
 
 MODULE_COMMAND	= publisher
 
-SRCS		= publisher.cpp
+SRCS		= publisher_main.cpp \
+		  publisher_example.cpp
 
 MODULE_STACKSIZE = 1200
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;
-}
diff --git a/src/examples/publisher/publisher_example.cpp b/src/examples/publisher/publisher_example.cpp
new file mode 100644
index 000000000..3c716291b
--- /dev/null
+++ b/src/examples/publisher/publisher_example.cpp
@@ -0,0 +1,67 @@
+
+/****************************************************************************
+ *
+ *   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 publisher_example.cpp
+ * Example subscriber for ros and px4
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include "publisher_example.h"
+
+PublisherExample::PublisherExample() :
+	_n(),
+	_rc_channels_pub(PX4_ADVERTISE(_n, rc_channels))
+{
+
+}
+
+int PublisherExample::main()
+{
+	px4::Rate loop_rate(10);
+
+	while (px4::ok()) {
+		PX4_TOPIC_T(rc_channels) msg;
+		msg.timestamp_last_valid = px4::get_time_micros();
+		PX4_INFO("%llu", msg.timestamp_last_valid);
+
+		_rc_channels_pub->publish(msg);
+
+		_n.spinOnce();
+		loop_rate.sleep();
+	}
+
+	return 0;
+}
diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h
new file mode 100644
index 000000000..78c1ffc89
--- /dev/null
+++ b/src/examples/publisher/publisher_example.h
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   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 publisher.h
+ * Example publisher for ros and px4
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+#include <px4.h>
+class PublisherExample {
+public:
+	PublisherExample();
+
+	~PublisherExample() {};
+
+	int main();
+protected:
+	px4::NodeHandle _n;
+	px4::Publisher * _rc_channels_pub;
+};
diff --git a/src/examples/publisher/publisher_main.cpp b/src/examples/publisher/publisher_main.cpp
new file mode 100644
index 000000000..e1034fec5
--- /dev/null
+++ b/src/examples/publisher/publisher_main.cpp
@@ -0,0 +1,112 @@
+/****************************************************************************
+ *
+ *   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 publisher_main.cpp
+ * Example publisher for ros and px4
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+#include <string.h>
+#include <cstdlib>
+#include "publisher_example.h"
+
+static bool thread_running = false;     /**< Deamon status flag */
+static int daemon_task;             /**< Handle of deamon task / thread */
+namespace px4
+{
+bool task_should_exit = false;
+}
+using namespace px4;
+
+int publisher_task_main(int argc, char *argv[]);
+
+PX4_MAIN_FUNCTION(publisher)
+{
+	px4::init(argc, argv, "publisher");
+
+	if (argc < 1) {
+		errx(1, "usage: publisher {start|stop|status}");
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			warnx("already running");
+			/* this is not an error */
+			exit(0);
+		}
+
+		task_should_exit = false;
+
+		daemon_task = task_spawn_cmd("publisher",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2000,
+				       publisher_task_main,
+					(argv) ? (const char **)&argv[2] : (const char **)NULL);
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		task_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			warnx("is running");
+
+		} else {
+			warnx("not started");
+		}
+
+		exit(0);
+	}
+
+	warnx("unrecognized command");
+	return 1;
+}
+
+int publisher_task_main(int argc, char *argv[])
+{
+	warnx("starting");
+	PublisherExample p;
+	thread_running = true;
+	p.main();
+
+	warnx("exiting.");
+	thread_running = false;
+	return 0;
+}