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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/ros | |
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/ros')
-rw-r--r-- | src/platforms/ros/px4_publisher.cpp | 40 | ||||
-rw-r--r-- | src/platforms/ros/px4_ros_impl.cpp | 71 | ||||
-rw-r--r-- | src/platforms/ros/px4_subscriber.cpp | 40 |
3 files changed, 151 insertions, 0 deletions
diff --git a/src/platforms/ros/px4_publisher.cpp b/src/platforms/ros/px4_publisher.cpp new file mode 100644 index 000000000..ab6035b22 --- /dev/null +++ b/src/platforms/ros/px4_publisher.cpp @@ -0,0 +1,40 @@ +/**************************************************************************** + * + * 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_publisher.cpp + * + * PX4 Middleware Wrapper for Publisher + */ + + diff --git a/src/platforms/ros/px4_ros_impl.cpp b/src/platforms/ros/px4_ros_impl.cpp new file mode 100644 index 000000000..eda17e5a9 --- /dev/null +++ b/src/platforms/ros/px4_ros_impl.cpp @@ -0,0 +1,71 @@ +/**************************************************************************** + * + * 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_ros_impl.cpp + * + * PX4 Middleware Wrapper ROS Implementation + */ + +#include <px4.h> + +namespace px4 +{ + +void init(int argc, char *argv[], const char *process_name) +{ + ros::init(argc, argv, process_name); +} + +uint64_t get_time_micros() +{ + ros::Time time = ros::Time::now(); + return time.sec * 1e6 + time.nsec / 1000; +} + +bool ok() +{ + return ros::ok(); +} + +void spin_once() +{ + ros::spinOnce(); +} + +void spin() +{ + ros::spin(); +} + +} diff --git a/src/platforms/ros/px4_subscriber.cpp b/src/platforms/ros/px4_subscriber.cpp new file mode 100644 index 000000000..088c08fdb --- /dev/null +++ b/src/platforms/ros/px4_subscriber.cpp @@ -0,0 +1,40 @@ +/**************************************************************************** + * + * 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_subscriber.cpp + * + * PX4 Middleware Wrapper Subscriber + */ + + |