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-rw-r--r--CMakeLists.txt24
-rw-r--r--src/examples/publisher/publisher_example.cpp2
-rw-r--r--src/examples/publisher/publisher_example.h1
-rw-r--r--src/examples/publisher/publisher_main.cpp6
-rw-r--r--src/examples/subscriber/subscriber_example.cpp7
-rw-r--r--src/examples/subscriber/subscriber_example.h3
-rw-r--r--src/examples/subscriber/subscriber_main.cpp6
-rw-r--r--src/platforms/px4_defines.h7
-rw-r--r--src/platforms/px4_nodehandle.h13
9 files changed, 50 insertions, 19 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e91f2cc37..f206a5aa2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -111,7 +111,9 @@ target_link_libraries(px4
)
## Declare a test publisher
-add_executable(publisher src/examples/publisher/publisher.cpp)
+add_executable(publisher
+ src/examples/publisher/publisher_main.cpp
+ src/examples/publisher/publisher_example.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
@@ -124,7 +126,9 @@ target_link_libraries(publisher
)
## Declare a test subscriber
-add_executable(subscriber src/examples/subscriber/subscriber.cpp)
+add_executable(subscriber
+ src/examples/subscriber/subscriber_main.cpp
+ src/examples/subscriber/subscriber_example.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
@@ -136,14 +140,14 @@ target_link_libraries(subscriber
px4
)
-add_executable(mc_att_control
- src/modules/mc_att_control/mc_att_control_main.cpp
- src/moudles/mc_att_control/mc_att_control_base.cpp)
-add_dependencies(mc_att_control px4_generate_messages_cpp)
-target_link_libraries(mc_att_control
- ${catkin_LIBRARIES}
- px4
-)
+# add_executable(mc_att_control
+ # src/modules/mc_att_control/mc_att_control_main.cpp
+ # src/moudles/mc_att_control/mc_att_control_base.cpp)
+# add_dependencies(mc_att_control px4_generate_messages_cpp)
+# target_link_libraries(mc_att_control
+ # ${catkin_LIBRARIES}
+ # px4
+# )
#############
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;
}
diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h
index 440f1b6fc..819954d0e 100644
--- a/src/platforms/px4_defines.h
+++ b/src/platforms/px4_defines.h
@@ -66,9 +66,11 @@
#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);
+#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _objptr, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, _objptr);
/* 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);
+/* Subscribe without a callback (do not use directly, use PX4_SUBSCRIBE instead) */
+#define PX4_SUBSCRIBE_NOCB(_nodehandle, _name, _interval) _nodehandle.subscribe<const PX4_TOPIC_T(_name)&>(PX4_TOPIC(_name));
/* Parameter handle datatype */
typedef const char *px4_param_t;
@@ -113,9 +115,10 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value)
#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)
+#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _objptr, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, _objptr, 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)
+/* Subscribe without a callback (do not use directly, use PX4_SUBSCRIBE instead) */
#define PX4_SUBSCRIBE_NOCB(_nodehandle, _name, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), nullptr, _interval)
/* Parameter handle datatype */
diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h
index 5b7247b20..25b8e037d 100644
--- a/src/platforms/px4_nodehandle.h
+++ b/src/platforms/px4_nodehandle.h
@@ -100,6 +100,19 @@ public:
}
/**
+ * Subscribe with no callback, just the latest value is stored on updates
+ * @param topic Name of the topic
+ */
+ template<typename M>
+ Subscriber *subscribe(const char *topic)
+ {
+ //XXX missing implementation
+ // Subscriber *sub = new Subscriber(ros_sub);
+ // _subs.push_back(sub);
+ return (Subscriber *)NULL;
+ }
+
+ /**
* Advertise topic
* @param topic Name of the topic
*/
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-06 05:37:30 +0000