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-rw-r--r--src/examples/publisher/module.mk44
-rw-r--r--src/examples/publisher/publisher_example.cpp68
-rw-r--r--src/examples/publisher/publisher_example.h53
-rw-r--r--src/examples/publisher/publisher_main.cpp56
-rw-r--r--src/examples/publisher/publisher_start_nuttx.cpp99
5 files changed, 320 insertions, 0 deletions
diff --git a/src/examples/publisher/module.mk b/src/examples/publisher/module.mk
new file mode 100644
index 000000000..62a5f8dd1
--- /dev/null
+++ b/src/examples/publisher/module.mk
@@ -0,0 +1,44 @@
+############################################################################
+#
+# 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_main.cpp \
+ publisher_start_nuttx.cpp \
+ publisher_example.cpp
+
+MODULE_STACKSIZE = 1200
diff --git a/src/examples/publisher/publisher_example.cpp b/src/examples/publisher/publisher_example.cpp
new file mode 100644
index 000000000..9952a16e4
--- /dev/null
+++ b/src/examples/publisher/publisher_example.cpp
@@ -0,0 +1,68 @@
+
+/****************************************************************************
+ *
+ * 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"
+
+using namespace px4;
+
+PublisherExample::PublisherExample() :
+ _n(),
+ _rc_channels_pub(_n.advertise<px4_rc_channels>())
+{
+}
+
+int PublisherExample::main()
+{
+ px4::Rate loop_rate(10);
+
+ while (px4::ok()) {
+ loop_rate.sleep();
+ _n.spinOnce();
+
+ px4_rc_channels msg;
+ msg.data().timestamp_last_valid = px4::get_time_micros();
+ PX4_INFO("%llu", msg.data().timestamp_last_valid);
+ _rc_channels_pub->publish(msg);
+
+ }
+
+ return 0;
+}
diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h
new file mode 100644
index 000000000..4ff59a226
--- /dev/null
+++ b/src/examples/publisher/publisher_example.h
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ * 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>
+ */
+#pragma once
+#include <px4.h>
+
+class PublisherExample {
+public:
+ PublisherExample();
+
+ ~PublisherExample() {};
+
+ int main();
+protected:
+ px4::NodeHandle _n;
+ px4::Publisher<px4::px4_rc_channels> * _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..11439acff
--- /dev/null
+++ b/src/examples/publisher/publisher_main.cpp
@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ * 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 "publisher_example.h"
+
+bool thread_running = false; /**< Deamon status flag */
+
+int main(int argc, char **argv)
+{
+ px4::init(argc, argv, "publisher");
+
+ PX4_INFO("starting");
+ PublisherExample p;
+ thread_running = true;
+ p.main();
+
+ PX4_INFO("exiting.");
+ thread_running = false;
+ return 0;
+}
diff --git a/src/examples/publisher/publisher_start_nuttx.cpp b/src/examples/publisher/publisher_start_nuttx.cpp
new file mode 100644
index 000000000..db9d85269
--- /dev/null
+++ b/src/examples/publisher/publisher_start_nuttx.cpp
@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ * 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_start_nuttx.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+#include <string.h>
+#include <cstdlib>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+
+extern bool thread_running;
+int daemon_task; /**< Handle of deamon task / thread */
+namespace px4
+{
+bool task_should_exit = false;
+}
+using namespace px4;
+
+extern int main(int argc, char **argv);
+
+extern "C" __EXPORT int publisher_main(int argc, char *argv[]);
+int publisher_main(int argc, char *argv[])
+{
+ 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,
+ main,
+ (argv) ? (char* const*)&argv[2] : (char* const*)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;
+}
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-03 11:24:25 +0000