add macros for easy 2d array support, builds on px4 test build

2 files changed, 78 insertions, 1 deletions

diff --git a/src/include/px4.h b/src/include/px4.h
index 22d661b17..45068a6f7 100644
--- a/src/include/px4.h
+++ b/src/include/px4.h
@@ -59,7 +59,7 @@
 
 #endif
 
-#include "../platforms/px4_defines.h"
+#include <px4_defines.h>
 #include "../platforms/px4_middleware.h"
 #include "../platforms/px4_nodehandle.h"
 #include "../platforms/px4_subscriber.h"
diff --git a/src/include/px4_defines.h b/src/include/px4_defines.h
new file mode 100644
index 000000000..2dd57940d
--- /dev/null
+++ b/src/include/px4_defines.h
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   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_defines.h
+ *
+ * Generally used magic defines
+ */
+
+#pragma once
+
+#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
+/*
+ * Building for running within the ROS environment
+ */
+#define __EXPORT
+#define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv)
+#define PX4_WARN ROS_WARN
+#define PX4_INFO ROS_INFO
+#define PX4_TOPIC(_name) #_name
+#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);
+#else
+/*
+ * Building for NuttX
+ */
+#define PX4_MAIN_FUNCTION(_prefix) extern "C" __EXPORT int _prefix##_main(int argc, char *argv[])
+#define PX4_WARN warnx
+#define PX4_WARN warnx
+#define PX4_INFO warnx
+#define PX4_TOPIC(_name) ORB_ID(_name)
+#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)
+#endif
+
+/* Overload the PX4_SUBSCRIBE macro to suppport methods and pure functions as callback */
+#define PX4_GET_SUBSCRIBE(_1, _2, _3, _4, _5, NAME, ...) NAME
+#define PX4_SUBSCRIBE(...) PX4_GET_SUBSCRIBE(__VA_ARGS__, PX4_SUBSCRIBE_CBMETH, PX4_SUBSCRIBE_CBFUNC)(__VA_ARGS__)
+#define PX4_ADVERTISE(_nodehandle, _name) _nodehandle.advertise<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name))
+
+/* wrapper for 2d matrices */
+#define PX4_ARRAY2D(_array, _ncols, _x, _y) (_array[_x * _ncols + _y])
+
+/* wrapper for rotation matrices stored in arrays */
+#define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y)