diff options
| -rw-r--r-- | src/platforms/px4_middleware.h | 13 | ||||
| -rw-r--r-- | src/platforms/px4_publisher.h | 28 | ||||
| -rw-r--r-- | src/platforms/px4_subscriber.h | 32 |
3 files changed, 66 insertions, 7 deletions
diff --git a/src/platforms/px4_middleware.h b/src/platforms/px4_middleware.h index dece72907..c1465b4b1 100644 --- a/src/platforms/px4_middleware.h +++ b/src/platforms/px4_middleware.h @@ -50,9 +50,15 @@ __EXPORT void init(int argc, char *argv[], const char *process_name); __EXPORT uint64_t get_time_micros(); #if defined(__linux) || (defined(__APPLE__) && defined(__MACH__)) +/** + * Returns true if the app/task should continue to run + */ bool ok() { return ros::ok(); } #else extern bool task_should_exit; +/** + * Returns true if the app/task should continue to run + */ bool ok() { return !task_should_exit; } #endif @@ -60,8 +66,15 @@ class Rate { public: + /** + * Construct the Rate object and set rate + * @param rate_hz rate from which sleep time is calculated in Hz + */ explicit Rate(unsigned rate_hz) { sleep_interval = 1e6 / rate_hz; } + /** + * Sleep for 1/rate_hz s + */ void sleep() { usleep(sleep_interval); } private: diff --git a/src/platforms/px4_publisher.h b/src/platforms/px4_publisher.h index 9ce211d25..b67421066 100644 --- a/src/platforms/px4_publisher.h +++ b/src/platforms/px4_publisher.h @@ -52,33 +52,53 @@ namespace px4 class Publisher { public: + /** + * Construct Publisher by providing a ros::Publisher + * @param ros_pub the ros publisher which will be used to perform the publications + */ Publisher(ros::Publisher ros_pub) : _ros_pub(ros_pub) {} + ~Publisher() {}; + + /** Publishes msg + * @param msg the message which is published to the topic + */ template<typename M> int publish(const M &msg) { _ros_pub.publish(msg); return 0; } private: - ros::Publisher _ros_pub; + ros::Publisher _ros_pub; /**< Handle to the ros publisher */ }; #else class Publisher : public uORB::PublicationNode { public: + /** + * Construct Publisher by providing orb meta data + * @param meta orb metadata for the topic which is used + * @param list publisher is added to this list + */ Publisher(const struct orb_metadata *meta, List<uORB::PublicationNode *> * list) : uORB::PublicationNode(meta, list) {} + ~Publisher() {}; + + /** Publishes msg + * @param msg the message which is published to the topic + */ template<typename M> int publish(const M &msg) { uORB::PublicationBase::update((void*)&msg); return 0; } - void update() { - //XXX list traversal callback, needed? - } ; + /** + * Empty callback for list traversal + */ + void update() {} ; }; #endif } diff --git a/src/platforms/px4_subscriber.h b/src/platforms/px4_subscriber.h index 6e0ef8aed..fdd0367d5 100644 --- a/src/platforms/px4_subscriber.h +++ b/src/platforms/px4_subscriber.h @@ -54,15 +54,24 @@ namespace px4 class Subscriber { public: + /** + * Construct Subscriber by providing a ros::Subscriber + * @param ros_sub the ros subscriber which will be used to perform the publications + */ Subscriber(ros::Subscriber ros_sub) : _ros_sub(ros_sub) {} + ~Subscriber() {}; private: - ros::Subscriber _ros_sub; + ros::Subscriber _ros_sub; /**< Handle to ros subscriber */ }; + #else -// typedef std::function<void(int)> CallbackFunction; + +/** + * Subscriber class which is used by nodehandle when building for NuttX + */ class Subscriber { public: @@ -71,12 +80,22 @@ public: private: }; +/** + * Subscriber class that is templated with the uorb subscription message type + */ template<typename M> class SubscriberPX4 : public Subscriber, public uORB::Subscription<M> { public: + /** + * Construct SubscriberPX4 by providing orb meta data + * @param meta orb metadata for the topic which is used + * @param callback Callback, executed on receiving a new message + * @param interval Minimal interval between calls to callback + * @param list subscriber is added to this list + */ SubscriberPX4(const struct orb_metadata *meta, unsigned interval, std::function<void(const M&)> callback, @@ -86,8 +105,14 @@ public: _callback(callback) //XXX store callback {} + ~SubscriberPX4() {}; + /** + * Update Subscription + * Invoked by the list traversal in NodeHandle::spinOnce + * If new data is available the callback is called + */ void update() { if (!uORB::Subscription<M>::updated()) { /* Topic not updated, do not call callback */ @@ -102,7 +127,8 @@ public: }; private: - std::function<void(const M&)> _callback; + std::function<void(const M&)> _callback; /**< Callback handle, + called when new data is available */ }; #endif |