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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-11 10:51:19 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-11 10:51:19 +0100 |
commit | 173b1b2a8bcf2344be92b1f6e5acbc089a43fcab (patch) | |
tree | 63afb74e15312ecf8c60800962895e217c6e634c /src/examples | |
parent | a1685ed6d093ec01214e6839ea66f9dd565e55ce (diff) | |
download | px4-firmware-173b1b2a8bcf2344be92b1f6e5acbc089a43fcab.tar.gz px4-firmware-173b1b2a8bcf2344be92b1f6e5acbc089a43fcab.tar.bz2 px4-firmware-173b1b2a8bcf2344be92b1f6e5acbc089a43fcab.zip |
WIP, make class based and extended subscriber/publisher example compile for ros
Diffstat (limited to 'src/examples')
-rw-r--r-- | src/examples/publisher/publisher_example.cpp | 2 | ||||
-rw-r--r-- | src/examples/publisher/publisher_example.h | 1 | ||||
-rw-r--r-- | src/examples/publisher/publisher_main.cpp | 6 | ||||
-rw-r--r-- | src/examples/subscriber/subscriber_example.cpp | 7 | ||||
-rw-r--r-- | src/examples/subscriber/subscriber_example.h | 3 | ||||
-rw-r--r-- | src/examples/subscriber/subscriber_main.cpp | 6 |
6 files changed, 18 insertions, 7 deletions
diff --git a/src/examples/publisher/publisher_example.cpp b/src/examples/publisher/publisher_example.cpp index 3c716291b..2e5779ebe 100644 --- a/src/examples/publisher/publisher_example.cpp +++ b/src/examples/publisher/publisher_example.cpp @@ -41,6 +41,8 @@ #include "publisher_example.h" +using namespace px4; + PublisherExample::PublisherExample() : _n(), _rc_channels_pub(PX4_ADVERTISE(_n, rc_channels)) diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h index 78c1ffc89..304ecef47 100644 --- a/src/examples/publisher/publisher_example.h +++ b/src/examples/publisher/publisher_example.h @@ -38,6 +38,7 @@ * @author Thomas Gubler <thomasgubler@gmail.com> */ #include <px4.h> + class PublisherExample { public: PublisherExample(); diff --git a/src/examples/publisher/publisher_main.cpp b/src/examples/publisher/publisher_main.cpp index c4e79aaa6..8b692d963 100644 --- a/src/examples/publisher/publisher_main.cpp +++ b/src/examples/publisher/publisher_main.cpp @@ -51,6 +51,7 @@ using namespace px4; PX4_MAIN_FUNCTION(publisher); +#if !defined(__linux) && !(defined(__APPLE__) && defined(__MACH__)) extern "C" __EXPORT int publisher_main(int argc, char *argv[]) { px4::init(argc, argv, "publisher"); @@ -98,15 +99,16 @@ extern "C" __EXPORT int publisher_main(int argc, char *argv[]) warnx("unrecognized command"); return 1; } +#endif PX4_MAIN_FUNCTION(publisher) { - warnx("starting"); + PX4_INFO("starting"); PublisherExample p; thread_running = true; p.main(); - warnx("exiting."); + PX4_INFO("exiting."); thread_running = false; return 0; } diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp index 4e0350ff0..39d090752 100644 --- a/src/examples/subscriber/subscriber_example.cpp +++ b/src/examples/subscriber/subscriber_example.cpp @@ -76,7 +76,8 @@ SubscriberExample::SubscriberExample() : * Also the current value of the _sub_rc_chan subscription is printed */ void SubscriberExample::rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) { - PX4_INFO("Subscriber callback: [%llu], value of _sub_rc_chan: [%llu]", - msg.timestamp_last_valid, - ((SubscriberPX4<PX4_TOPIC_T(rc_channels)> *)_sub_rc_chan)->timestamp_last_valid); + //XXX + // PX4_INFO("Subscriber callback: [%llu], value of _sub_rc_chan: [%llu]", + // msg.timestamp_last_valid, + // ((SubscriberPX4<PX4_TOPIC_T(rc_channels)> *)_sub_rc_chan)->timestamp_last_valid); } diff --git a/src/examples/subscriber/subscriber_example.h b/src/examples/subscriber/subscriber_example.h index 848d43f76..73c739035 100644 --- a/src/examples/subscriber/subscriber_example.h +++ b/src/examples/subscriber/subscriber_example.h @@ -38,6 +38,9 @@ * @author Thomas Gubler <thomasgubler@gmail.com> */ #include <px4.h> + +using namespace px4; + class SubscriberExample { public: SubscriberExample(); diff --git a/src/examples/subscriber/subscriber_main.cpp b/src/examples/subscriber/subscriber_main.cpp index 0436dc9f2..716233739 100644 --- a/src/examples/subscriber/subscriber_main.cpp +++ b/src/examples/subscriber/subscriber_main.cpp @@ -51,6 +51,7 @@ using namespace px4; PX4_MAIN_FUNCTION(subscriber); +#if !defined(__linux) && !(defined(__APPLE__) && defined(__MACH__)) extern "C" __EXPORT int subscriber_main(int argc, char *argv[]) { if (argc < 1) { @@ -96,17 +97,18 @@ extern "C" __EXPORT int subscriber_main(int argc, char *argv[]) warnx("unrecognized command"); return 1; } +#endif PX4_MAIN_FUNCTION(subscriber) { px4::init(argc, argv, "subscriber"); - warnx("starting"); + PX4_INFO("starting"); SubscriberExample s; thread_running = true; s.spin(); - warnx("exiting."); + PX4_INFO("exiting."); thread_running = false; return 0; } |