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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-04 11:50:59 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-04 11:50:59 +0100 |
commit | befe4c399e1f0f2864f91ddde4db585dabf3db99 (patch) | |
tree | 93537a8f2f702dd7825e54548fd8b7e406fafb6e /src/platforms/px4_defines.h | |
parent | 8e8f84bde0d2e15734d931ea38a7b294a06d7314 (diff) | |
download | px4-firmware-befe4c399e1f0f2864f91ddde4db585dabf3db99.tar.gz px4-firmware-befe4c399e1f0f2864f91ddde4db585dabf3db99.tar.bz2 px4-firmware-befe4c399e1f0f2864f91ddde4db585dabf3db99.zip |
comments for px4 defines
Diffstat (limited to 'src/platforms/px4_defines.h')
-rw-r--r-- | src/platforms/px4_defines.h | 53 |
1 files changed, 42 insertions, 11 deletions
diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h index 09338acab..5858a69d8 100644 --- a/src/platforms/px4_defines.h +++ b/src/platforms/px4_defines.h @@ -38,8 +38,10 @@ */ #pragma once - +/* Get the name of the default value fiven the param name */ #define PX4_PARAM_DEFAULT_VALUE_NAME(_name) PARAM_##_name##_DEFAULT + +/* Shortcuts to define parameters when the default value is defined according to PX4_PARAM_DEFAULT_VALUE_NAME */ #define PX4_PARAM_DEFINE_INT32(_name) PARAM_DEFINE_INT32(_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name)) #define PX4_PARAM_DEFINE_FLOAT(_name) PARAM_DEFINE_FLOAT(_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name)) @@ -50,14 +52,28 @@ */ #define __EXPORT #include "ros/ros.h" +/* Main entry point */ #define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv) + +/* Print/output wrappers */ #define PX4_WARN ROS_WARN #define PX4_INFO ROS_INFO + +/* Topic Handle */ #define PX4_TOPIC(_name) #_name + +/* Topic type */ #define PX4_TOPIC_T(_name) _name + +/* Subscribe and providing a class method as callback (do not use directly, use PX4_SUBSCRIBE instead) */ #define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, &_obj); +/* Subscribe and providing a function as callback (do not use directly, use PX4_SUBSCRIBE instead) */ #define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf); + +/* Parameter handle datatype */ typedef const char* px4_param_t; + +/* Helper fucntions to set ROS params, only int and float supported */ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, int value) { ros::param::set(name, value); return (px4_param_t)name; @@ -66,35 +82,53 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value) { ros::param::set(name, value); return (px4_param_t)name; }; -// #define PARAM_DEFINE_INT32(_name, _default) static const int PX4_ROS_PARAM_DEFAULT_VALUE_NAME(_name) = _default; -// #define PARAM_DEFINE_FLOAT(_name, _default) static const float PX4_ROS_PARAM_DEFAULT_VALUE_NAME(_name) = _default; + +/* Initialize a param, in case of ROS the parameter is sent to the parameter server here */ #define PX4_PARAM_INIT(_name) PX4_ROS_PARAM_SET(#_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name)) -// #define PX4_PARAM_INIT(_name, _default) ros::param::set(_name, _default) + +/* Get value of parameter */ #define PX4_PARAM_GET(_handle, _destpt) ros::param::get(_handle, *_destpt) -#define PX4_PARAM_INT32_T int //XXX #else /* * Building for NuttX */ #include <platforms/px4_includes.h> +/* Main entry point */ #define PX4_MAIN_FUNCTION(_prefix) extern "C" __EXPORT int _prefix##_main(int argc, char *argv[]) -#define PX4_WARN warnx + +/* Print/output wrappers */ #define PX4_WARN warnx #define PX4_INFO warnx + +/* Topic Handle */ #define PX4_TOPIC(_name) ORB_ID(_name) + +/* Topic type */ #define PX4_TOPIC_T(_name) _name##_s + +/* Subscribe and providing a class method as callback (do not use directly, use PX4_SUBSCRIBE instead) */ #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) +/* Subscribe and providing a function as callback (do not use directly, use PX4_SUBSCRIBE instead) */ #define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, std::placeholders::_1), _interval) + +/* Parameter handle datatype */ typedef param_t px4_param_t; + +/* Initialize a param, get param handle */ #define PX4_PARAM_INIT(_name) param_find(#_name) + +/* Get value of parameter */ #define PX4_PARAM_GET(_handle, _destpt) param_get(_handle, _destpt) -#define PX4_PARAM_INT32_T int32_t #endif -/* Overload the PX4_SUBSCRIBE macro to suppport methods and pure functions as callback */ +/* Shortcut for subscribing to topics + * 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__) + +/* shortcut for advertising topics */ #define PX4_ADVERTISE(_nodehandle, _name) _nodehandle.advertise<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name)) /* wrapper for 2d matrices */ @@ -102,6 +136,3 @@ typedef param_t px4_param_t; /* wrapper for rotation matrices stored in arrays */ #define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y) - -// #define PX4_PARAM_DEFAULT_INT32(_name, _value) static const PX4_PARAM_INT32_T PX4_PARAM_DEFAULT_VALUE_NAME(_name) = _value; -// #define PX4_PARAM_DEFAULT_FLOAT(_name, _value) static const float PX4_PARAM_DEFAULT_VALUE_NAME(_name) = _value; |