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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-09 11:57:34 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-09 11:57:34 +0100 |
commit | f36f54c621cb5b36d345c5a26f72e89fc948fa65 (patch) | |
tree | 9cc8f0a8765ca0deb7ec2e73393f99cb8754e43a /src/platforms/nuttx/px4_nuttx_impl.cpp | |
parent | 1e9f431cf1d93b64f26fb9c3e42329e7237bad0e (diff) | |
download | px4-firmware-f36f54c621cb5b36d345c5a26f72e89fc948fa65.tar.gz px4-firmware-f36f54c621cb5b36d345c5a26f72e89fc948fa65.tar.bz2 px4-firmware-f36f54c621cb5b36d345c5a26f72e89fc948fa65.zip |
Restructuring of generic middleware support files, wrapping of the main ROS calls, skeletons for publishers / subscribers
Diffstat (limited to 'src/platforms/nuttx/px4_nuttx_impl.cpp')
-rw-r--r-- | src/platforms/nuttx/px4_nuttx_impl.cpp | 75 |
1 files changed, 75 insertions, 0 deletions
diff --git a/src/platforms/nuttx/px4_nuttx_impl.cpp b/src/platforms/nuttx/px4_nuttx_impl.cpp new file mode 100644 index 000000000..3a6529716 --- /dev/null +++ b/src/platforms/nuttx/px4_nuttx_impl.cpp @@ -0,0 +1,75 @@ +/**************************************************************************** + * + * 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_nuttx_impl.cpp + * + * PX4 Middleware Wrapper NuttX Implementation + */ + +#include <px4.h> + +extern bool task_should_exit; + +namespace px4 +{ + +void init(int argc, char *argv[], const char *process_name) +{ + px4_warn("process: %s", process_name); + return 0; +} + +uint64_t get_time_micros() +{ + return hrt_absolute_time(); +} + +bool ok() +{ + return !task_should_exit; +} + +void spin_once() +{ + // XXX check linked list of topics with orb_check() here + +} + +void spin() +{ + // XXX block waiting for updated topics here + +} + +} |