diff options
Diffstat (limited to 'src/examples/publisher')
-rw-r--r-- | src/examples/publisher/module.mk | 3 | ||||
-rw-r--r-- | src/examples/publisher/publisher.cpp | 100 | ||||
-rw-r--r-- | src/examples/publisher/publisher_example.cpp | 67 | ||||
-rw-r--r-- | src/examples/publisher/publisher_example.h | 51 | ||||
-rw-r--r-- | src/examples/publisher/publisher_main.cpp | 112 |
5 files changed, 232 insertions, 101 deletions
diff --git a/src/examples/publisher/module.mk b/src/examples/publisher/module.mk index 0fc4316ec..4f941cd43 100644 --- a/src/examples/publisher/module.mk +++ b/src/examples/publisher/module.mk @@ -37,6 +37,7 @@ MODULE_COMMAND = publisher -SRCS = publisher.cpp +SRCS = publisher_main.cpp \ + publisher_example.cpp MODULE_STACKSIZE = 1200 diff --git a/src/examples/publisher/publisher.cpp b/src/examples/publisher/publisher.cpp deleted file mode 100644 index 8ef147493..000000000 --- a/src/examples/publisher/publisher.cpp +++ /dev/null @@ -1,100 +0,0 @@ -/* - * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * * 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. - * * Neither the names of Stanford University or Willow Garage, Inc. 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. - */ - -#include <px4.h> - -using namespace px4; - -/** - * This tutorial demonstrates simple sending of messages over the PX4 middleware system. - */ - -namespace px4 -{ -bool task_should_exit = false; -} - -PX4_MAIN_FUNCTION(publisher) -{ - - px4::init(argc, argv, "px4_publisher"); - - px4::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. - */ - px4::Publisher * rc_channels_pub = PX4_ADVERTISE(n, rc_channels); - - - 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. - */ - int count = 0; - - while (px4::ok()) { - /** - * This is a message object. You stuff it with data, and then publish it. - */ - PX4_TOPIC_T(rc_channels) msg; - - msg.timestamp_last_valid = px4::get_time_micros(); - PX4_INFO("%llu", 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. - */ - rc_channels_pub->publish(msg); - - n.spinOnce(); - - loop_rate.sleep(); - ++count; - } - - return 0; -} diff --git a/src/examples/publisher/publisher_example.cpp b/src/examples/publisher/publisher_example.cpp new file mode 100644 index 000000000..3c716291b --- /dev/null +++ b/src/examples/publisher/publisher_example.cpp @@ -0,0 +1,67 @@ + +/**************************************************************************** + * + * 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 publisher_example.cpp + * Example subscriber for ros and px4 + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include "publisher_example.h" + +PublisherExample::PublisherExample() : + _n(), + _rc_channels_pub(PX4_ADVERTISE(_n, rc_channels)) +{ + +} + +int PublisherExample::main() +{ + px4::Rate loop_rate(10); + + while (px4::ok()) { + PX4_TOPIC_T(rc_channels) msg; + msg.timestamp_last_valid = px4::get_time_micros(); + PX4_INFO("%llu", msg.timestamp_last_valid); + + _rc_channels_pub->publish(msg); + + _n.spinOnce(); + loop_rate.sleep(); + } + + return 0; +} diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h new file mode 100644 index 000000000..78c1ffc89 --- /dev/null +++ b/src/examples/publisher/publisher_example.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 publisher.h + * Example publisher for ros and px4 + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ +#include <px4.h> +class PublisherExample { +public: + PublisherExample(); + + ~PublisherExample() {}; + + int main(); +protected: + px4::NodeHandle _n; + px4::Publisher * _rc_channels_pub; +}; diff --git a/src/examples/publisher/publisher_main.cpp b/src/examples/publisher/publisher_main.cpp new file mode 100644 index 000000000..e1034fec5 --- /dev/null +++ b/src/examples/publisher/publisher_main.cpp @@ -0,0 +1,112 @@ +/**************************************************************************** + * + * 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 publisher_main.cpp + * Example publisher for ros and px4 + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ +#include <string.h> +#include <cstdlib> +#include "publisher_example.h" + +static bool thread_running = false; /**< Deamon status flag */ +static int daemon_task; /**< Handle of deamon task / thread */ +namespace px4 +{ +bool task_should_exit = false; +} +using namespace px4; + +int publisher_task_main(int argc, char *argv[]); + +PX4_MAIN_FUNCTION(publisher) +{ + px4::init(argc, argv, "publisher"); + + if (argc < 1) { + errx(1, "usage: publisher {start|stop|status}"); + } + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + warnx("already running"); + /* this is not an error */ + exit(0); + } + + task_should_exit = false; + + daemon_task = task_spawn_cmd("publisher", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 5, + 2000, + publisher_task_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + task_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + warnx("is running"); + + } else { + warnx("not started"); + } + + exit(0); + } + + warnx("unrecognized command"); + return 1; +} + +int publisher_task_main(int argc, char *argv[]) +{ + warnx("starting"); + PublisherExample p; + thread_running = true; + p.main(); + + warnx("exiting."); + thread_running = false; + return 0; +} |