diff options
| -rw-r--r-- | CMakeLists.txt | 35 | ||||
| -rw-r--r-- | makefiles/config_px4fmu-v2_test.mk | 11 | ||||
| -rw-r--r-- | src/examples/publisher/module.mk | 42 | ||||
| -rw-r--r-- | src/examples/publisher/publisher.cpp | 138 | ||||
| -rw-r--r-- | src/examples/subscriber/module.mk | 42 | ||||
| -rw-r--r-- | src/examples/subscriber/subscriber.cpp | 99 | ||||
| -rw-r--r-- | src/include/px4.h (renamed from include/px4.h) | 15 | ||||
| -rw-r--r-- | src/platforms/empty.c (renamed from platforms/empty.c) | 0 | ||||
| -rw-r--r-- | src/platforms/nuttx/module.mk | 42 | ||||
| -rw-r--r-- | src/platforms/nuttx/px4_nuttx_impl.cpp | 75 | ||||
| -rw-r--r-- | src/platforms/nuttx/px4_publisher.cpp | 40 | ||||
| -rw-r--r-- | src/platforms/nuttx/px4_subscriber.cpp | 40 | ||||
| -rw-r--r-- | src/platforms/px4_defines.h | 51 | ||||
| -rw-r--r-- | src/platforms/px4_middleware.h | 95 | ||||
| -rw-r--r-- | src/platforms/px4_nodehandle.h | 46 | ||||
| -rw-r--r-- | src/platforms/px4_publisher.h | 46 | ||||
| -rw-r--r-- | src/platforms/px4_subscriber.h | 46 | ||||
| -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 |
20 files changed, 849 insertions, 165 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index de2907e6a..36c2ffeff 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -80,10 +80,10 @@ generate_messages( ## CATKIN_DEPENDS: catkin_packages dependent projects also need ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( - INCLUDE_DIRS include -# LIBRARIES px4 -# CATKIN_DEPENDS roscpp rospy std_msgs -# DEPENDS system_lib + INCLUDE_DIRS src/include + LIBRARIES px4 + CATKIN_DEPENDS roscpp rospy std_msgs + DEPENDS system_lib CATKIN_DEPENDS message_runtime ) @@ -93,15 +93,22 @@ catkin_package( ## Specify additional locations of header files ## Your package locations should be listed before other locations -include_directories(include) include_directories( ${catkin_INCLUDE_DIRS} + src/platforms + src/include ) ## Declare a cpp library -# add_library(px4 -# src/${PROJECT_NAME}/px4test.cpp # src/platforms/ros/ros.cpp -# ) +add_library(px4 + src/platforms/ros/px4_ros_impl.cpp + src/platforms/ros/px4_publisher.cpp + src/platforms/ros/px4_subscriber.cpp +) + +target_link_libraries(px4 + ${catkin_LIBRARIES} +) ## Declare a test publisher add_executable(publisher src/examples/publisher/publisher.cpp) @@ -113,6 +120,7 @@ add_dependencies(publisher px4_generate_messages_cpp) ## Specify libraries to link a library or executable target against target_link_libraries(publisher ${catkin_LIBRARIES} + px4 ) ## Declare a test subscriber @@ -125,6 +133,7 @@ add_dependencies(subscriber px4_generate_messages_cpp) ## Specify libraries to link a library or executable target against target_link_libraries(subscriber ${catkin_LIBRARIES} + px4 ) ############# @@ -142,11 +151,11 @@ target_link_libraries(subscriber # ) ## Mark executables and/or libraries for installation -# install(TARGETS px4 mc_attitude_control -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) +install(TARGETS px4 publisher subscriber + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) ## Mark cpp header files for installation # install(DIRECTORY include/${PROJECT_NAME}/ diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk index 2f4d9d6a4..67934b8e4 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -34,9 +34,11 @@ MODULES += systemcmds/mtd MODULES += systemcmds/ver # -# Testing modules +# Example modules # MODULES += examples/matlab_csv_serial +MODULES += examples/subscriber +MODULES += examples/publisher # # Library modules @@ -44,16 +46,15 @@ MODULES += examples/matlab_csv_serial MODULES += modules/systemlib MODULES += modules/systemlib/mixer MODULES += modules/uORB -LIBRARIES += lib/mathlib/CMSIS MODULES += lib/mathlib MODULES += lib/mathlib/math/filter MODULES += lib/conversion +LIBRARIES += lib/mathlib/CMSIS +MODULES += platforms/nuttx # -# Libraries +# Tests # -LIBRARIES += lib/mathlib/CMSIS - MODULES += modules/unit_test MODULES += modules/mavlink/mavlink_tests MODULES += modules/commander/commander_tests diff --git a/src/examples/publisher/module.mk b/src/examples/publisher/module.mk new file mode 100644 index 000000000..0fc4316ec --- /dev/null +++ b/src/examples/publisher/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Publisher Example Application +# + +MODULE_COMMAND = publisher + +SRCS = publisher.cpp + +MODULE_STACKSIZE = 1200 diff --git a/src/examples/publisher/publisher.cpp b/src/examples/publisher/publisher.cpp index 53fe2e905..91e063162 100644 --- a/src/examples/publisher/publisher.cpp +++ b/src/examples/publisher/publisher.cpp @@ -26,112 +26,70 @@ */ #include <px4.h> - -// %EndTag(ROS_HEADER)% -// %Tag(MSG_HEADER)% -#include "std_msgs/String.h" -// %EndTag(MSG_HEADER)% +#include <px4/rc_channels.h> #include <sstream> -#include <px4/rc_channels.h> /** - * This tutorial demonstrates simple sending of messages over the ROS system. + * This tutorial demonstrates simple sending of messages over the PX4 middleware system. */ int main(int argc, char **argv) { - /** - * The ros::init() function needs to see argc and argv so that it can perform - * any ROS arguments and name remapping that were provided at the command line. For programmatic - * remappings you can use a different version of init() which takes remappings - * directly, but for most command-line programs, passing argc and argv is the easiest - * way to do it. The third argument to init() is the name of the node. - * - * You must call one of the versions of ros::init() before using any other - * part of the ROS system. - */ -// %Tag(INIT)% - ros::init(argc, argv, "px4_publisher"); -// %EndTag(INIT)% - /** - * NodeHandle is the main access point to communications with the ROS system. - * The first NodeHandle constructed will fully initialize this node, and the last - * NodeHandle destructed will close down the node. - */ -// %Tag(NODEHANDLE)% - ros::NodeHandle n; -// %EndTag(NODEHANDLE)% + px4::init(argc, argv, "px4_publisher"); + + ros::NodeHandle n; - /** - * The advertise() function is how you tell ROS that you want to - * publish on a given topic name. This invokes a call to the ROS - * master node, which keeps a registry of who is publishing and who - * is subscribing. After this advertise() call is made, the master - * node will notify anyone who is trying to subscribe to this topic name, - * and they will in turn negotiate a peer-to-peer connection with this - * node. advertise() returns a Publisher object which allows you to - * publish messages on that topic through a call to publish(). Once - * all copies of the returned Publisher object are destroyed, the topic - * will be automatically unadvertised. - * - * The second parameter to advertise() is the size of the message queue - * used for publishing messages. If messages are published more quickly - * than we can send them, the number here specifies how many messages to - * buffer up before throwing some away. - */ -// %Tag(PUBLISHER)% - ros::Publisher rc_channels_pub = n.advertise<px4::rc_channels>("rc_channels", 1000); -// %EndTag(PUBLISHER)% + /** + * The advertise() function is how you tell ROS that you want to + * publish on a given topic name. This invokes a call to the ROS + * master node, which keeps a registry of who is publishing and who + * is subscribing. After this advertise() call is made, the master + * node will notify anyone who is trying to subscribe to this topic name, + * and they will in turn negotiate a peer-to-peer connection with this + * node. advertise() returns a Publisher object which allows you to + * publish messages on that topic through a call to publish(). Once + * all copies of the returned Publisher object are destroyed, the topic + * will be automatically unadvertised. + * + * The second parameter to advertise() is the size of the message queue + * used for publishing messages. If messages are published more quickly + * than we can send them, the number here specifies how many messages to + * buffer up before throwing some away. + */ + ros::Publisher rc_channels_pub = n.advertise<px4::rc_channels>("rc_channels", 1000); -// %Tag(LOOP_RATE)% - ros::Rate loop_rate(10); -// %EndTag(LOOP_RATE)% + px4::Rate loop_rate(10); - /** - * A count of how many messages we have sent. This is used to create - * a unique string for each message. - */ -// %Tag(ROS_OK)% - int count = 0; - while (ros::ok()) - { -// %EndTag(ROS_OK)% - /** - * This is a message object. You stuff it with data, and then publish it. - */ -// %Tag(FILL_MESSAGE)% - px4::rc_channels msg; + /** + * A count of how many messages we have sent. This is used to create + * a unique string for each message. + */ + int count = 0; - ros::Time time = ros::Time::now(); - msg.timestamp_last_valid = time.sec * 1e6 + time.nsec; -// %EndTag(FILL_MESSAGE)% + while (px4::ok()) { + /** + * This is a message object. You stuff it with data, and then publish it. + */ + px4::rc_channels msg; -// %Tag(ROSCONSOLE)% - px4_warnx("%lu", msg.timestamp_last_valid); -// %EndTag(ROSCONSOLE)% + msg.timestamp_last_valid = px4::get_time_micros(); + PX4_INFO("%lu", msg.timestamp_last_valid); - /** - * The publish() function is how you send messages. The parameter - * is the message object. The type of this object must agree with the type - * given as a template parameter to the advertise<>() call, as was done - * in the constructor above. - */ -// %Tag(PUBLISH)% - rc_channels_pub.publish(msg); -// %EndTag(PUBLISH)% + /** + * The publish() function is how you send messages. The parameter + * is the message object. The type of this object must agree with the type + * given as a template parameter to the advertise<>() call, as was done + * in the constructor above. + */ + rc_channels_pub.publish(msg); -// %Tag(SPINONCE)% - ros::spinOnce(); -// %EndTag(SPINONCE)% + px4::spin_once(); -// %Tag(RATE_SLEEP)% - loop_rate.sleep(); -// %EndTag(RATE_SLEEP)% - ++count; - } + loop_rate.sleep(); + ++count; + } - return 0; + return 0; } -// %EndTag(FULLTEXT)% diff --git a/src/examples/subscriber/module.mk b/src/examples/subscriber/module.mk new file mode 100644 index 000000000..44d3d03a9 --- /dev/null +++ b/src/examples/subscriber/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Subscriber Example Application +# + +MODULE_COMMAND = subscriber + +SRCS = subscriber.cpp + +MODULE_STACKSIZE = 1200 diff --git a/src/examples/subscriber/subscriber.cpp b/src/examples/subscriber/subscriber.cpp index da69e6e25..bf16bf84e 100644 --- a/src/examples/subscriber/subscriber.cpp +++ b/src/examples/subscriber/subscriber.cpp @@ -25,70 +25,63 @@ * POSSIBILITY OF SUCH DAMAGE. */ -// %Tag(FULLTEXT)% -#include "ros/ros.h" -#include "std_msgs/String.h" +#include <px4.h> #include "px4/rc_channels.h" /** - * This tutorial demonstrates simple receipt of messages over the ROS system. + * This tutorial demonstrates simple receipt of messages over the PX4 middleware system. */ -// %Tag(CALLBACK)% -void rc_channels_callback(const px4::rc_channels::ConstPtr& msg) +void rc_channels_callback(const px4::rc_channels::ConstPtr &msg) { - ROS_INFO("I heard: [%lu]", msg->timestamp_last_valid); + PX4_INFO("I heard: [%lu]", msg->timestamp_last_valid); } -// %EndTag(CALLBACK)% + +PX4_MAIN_FUNCTION(subscriber) int main(int argc, char **argv) { - /** - * The ros::init() function needs to see argc and argv so that it can perform - * any ROS arguments and name remapping that were provided at the command line. For programmatic - * remappings you can use a different version of init() which takes remappings - * directly, but for most command-line programs, passing argc and argv is the easiest - * way to do it. The third argument to init() is the name of the node. - * - * You must call one of the versions of ros::init() before using any other - * part of the ROS system. - */ - ros::init(argc, argv, "listener"); + /** + * The ros::init() function needs to see argc and argv so that it can perform + * any ROS arguments and name remapping that were provided at the command line. For programmatic + * remappings you can use a different version of init() which takes remappings + * directly, but for most command-line programs, passing argc and argv is the easiest + * way to do it. The third argument to init() is the name of the node. + * + * You must call one of the versions of px4::init() before using any other + * part of the PX4/ ROS system. + */ + px4::init(argc, argv, "listener"); - /** - * NodeHandle is the main access point to communications with the ROS system. - * The first NodeHandle constructed will fully initialize this node, and the last - * NodeHandle destructed will close down the node. - */ - ros::NodeHandle n; + /** + * NodeHandle is the main access point to communications with the ROS system. + * The first NodeHandle constructed will fully initialize this node, and the last + * NodeHandle destructed will close down the node. + */ + ros::NodeHandle n; - /** - * The subscribe() call is how you tell ROS that you want to receive messages - * on a given topic. This invokes a call to the ROS - * master node, which keeps a registry of who is publishing and who - * is subscribing. Messages are passed to a callback function, here - * called chatterCallback. subscribe() returns a Subscriber object that you - * must hold on to until you want to unsubscribe. When all copies of the Subscriber - * object go out of scope, this callback will automatically be unsubscribed from - * this topic. - * - * The second parameter to the subscribe() function is the size of the message - * queue. If messages are arriving faster than they are being processed, this - * is the number of messages that will be buffered up before beginning to throw - * away the oldest ones. - */ -// %Tag(SUBSCRIBER)% - ros::Subscriber sub = n.subscribe("rc_channels", 1000, rc_channels_callback); -// %EndTag(SUBSCRIBER)% + /** + * The subscribe() call is how you tell ROS that you want to receive messages + * on a given topic. This invokes a call to the ROS + * master node, which keeps a registry of who is publishing and who + * is subscribing. Messages are passed to a callback function, here + * called chatterCallback. subscribe() returns a Subscriber object that you + * must hold on to until you want to unsubscribe. When all copies of the Subscriber + * object go out of scope, this callback will automatically be unsubscribed from + * this topic. + * + * The second parameter to the subscribe() function is the size of the message + * queue. If messages are arriving faster than they are being processed, this + * is the number of messages that will be buffered up before beginning to throw + * away the oldest ones. + */ + ros::Subscriber sub = n.subscribe("rc_channels", 1000, rc_channels_callback); - /** - * ros::spin() will enter a loop, pumping callbacks. With this version, all - * callbacks will be called from within this thread (the main one). ros::spin() - * will exit when Ctrl-C is pressed, or the node is shutdown by the master. - */ -// %Tag(SPIN)% - ros::spin(); -// %EndTag(SPIN)% + /** + * px4::spin() will enter a loop, pumping callbacks. With this version, all + * callbacks will be called from within this thread (the main one). px4::spin() + * will exit when Ctrl-C is pressed, or the node is shutdown by the master. + */ + px4::spin(); - return 0; + return 0; } -// %EndTag(FULLTEXT)% diff --git a/include/px4.h b/src/include/px4.h index 4684cd256..0aba2ee77 100644 --- a/include/px4.h +++ b/src/include/px4.h @@ -37,17 +37,24 @@ * Main system header with common convenience functions */ +#pragma once + +#include <stdbool.h> + #if defined(__linux) || (defined(__APPLE__) && defined(__MACH__)) /* * Building for running within the ROS environment */ #include "ros/ros.h" -#define px4_warnx ROS_WARN -#define px4_infox ROS_INFO +#define PX4_WARN ROS_WARN +#define PX4_INFO ROS_INFO #else /* * Building for NuttX */ -#define px4_warnx warnx -#define px4_infox warnx +#define PX4_WARN warnx +#define PX4_INFO warnx #endif + +#include "../platforms/px4_defines.h" +#include "../platforms/px4_middleware.h" diff --git a/platforms/empty.c b/src/platforms/empty.c index 139531354..139531354 100644 --- a/platforms/empty.c +++ b/src/platforms/empty.c diff --git a/src/platforms/nuttx/module.mk b/src/platforms/nuttx/module.mk new file mode 100644 index 000000000..128f0e734 --- /dev/null +++ b/src/platforms/nuttx/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# NuttX / uORB adapter library +# + +SRCS = px4_nuttx_impl.cpp \ + px4_publisher.cpp \ + px4_subscriber.cpp + +MAXOPTIMIZATION = -Os 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 + +} + +} diff --git a/src/platforms/nuttx/px4_publisher.cpp b/src/platforms/nuttx/px4_publisher.cpp new file mode 100644 index 000000000..ab6035b22 --- /dev/null +++ b/src/platforms/nuttx/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/nuttx/px4_subscriber.cpp b/src/platforms/nuttx/px4_subscriber.cpp new file mode 100644 index 000000000..088c08fdb --- /dev/null +++ b/src/platforms/nuttx/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 + */ + + diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h new file mode 100644 index 000000000..48234766f --- /dev/null +++ b/src/platforms/px4_defines.h @@ -0,0 +1,51 @@ +/**************************************************************************** + * + * 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_defines.h + * + * Generally used magic defines + */ + +#pragma once + +#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__)) +/* + * Building for running within the ROS environment + */ +#define __EXPORT +#define PX4_MAIN_FUNCTION(_prefix) +#else +#include <nuttx/config.h> +#define PX4_MAIN_FUNCTION(_prefix) __EXPORT int _prefix##main(int argc, char **argv)() { return main(argc, argv); } +#endif diff --git a/src/platforms/px4_middleware.h b/src/platforms/px4_middleware.h new file mode 100644 index 000000000..d1c0656af --- /dev/null +++ b/src/platforms/px4_middleware.h @@ -0,0 +1,95 @@ +/**************************************************************************** + * + * 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_middleware.h + * + * PX4 generic middleware wrapper + */ + +#pragma once + +#include <stdint.h> + +namespace px4 +{ + +void init(int argc, char *argv[], const char *process_name); + +uint64_t get_time_micros(); + +bool ok(); + +void spin_once(); + +void spin(); + +class Rate +{ + +public: + explicit Rate(unsigned rate_hz) { sleep_interval = 1e6 / rate_hz; } + + void sleep() { usleep(sleep_interval); } + +private: + uint64_t sleep_interval; + +}; + +// /** +// * A limiter/ saturation. +// * The output of update is the input, bounded +// * by min/max. +// */ +// class __EXPORT BlockLimit : public Block +// { +// public: +// // methods +// BlockLimit(SuperBlock *parent, const char *name) : +// Block(parent, name), +// _min(this, "MIN"), +// _max(this, "MAX") +// {}; +// virtual ~BlockLimit() {}; +// float update(float input); +// // accessors +// float getMin() { return _min.get(); } +// float getMax() { return _max.get(); } +// protected: +// // attributes +// control::BlockParamFloat _min; +// control::BlockParamFloat _max; +// }; + +} // namespace px4 diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h new file mode 100644 index 000000000..d278828b7 --- /dev/null +++ b/src/platforms/px4_nodehandle.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * 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_nodehandle.h + * + * PX4 Middleware Wrapper Node Handle + */ + +namespace px4 +{ +class NodeHandle +{ + +}; +} diff --git a/src/platforms/px4_publisher.h b/src/platforms/px4_publisher.h new file mode 100644 index 000000000..1b0952155 --- /dev/null +++ b/src/platforms/px4_publisher.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * 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_nodehandle.h + * + * PX4 Middleware Wrapper Node Handle + */ + +namespace px4 +{ +class Publisher +{ + +}; +} diff --git a/src/platforms/px4_subscriber.h b/src/platforms/px4_subscriber.h new file mode 100644 index 000000000..8759f8b05 --- /dev/null +++ b/src/platforms/px4_subscriber.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * 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.h + * + * PX4 Middleware Wrapper Subscriber + */ + +namespace px4 +{ +class Subscriber +{ + +}; +} 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 + */ + + |