diff options
Diffstat (limited to 'src/examples/subscriber')
| -rw-r--r-- | src/examples/subscriber/module.mk | 1 | ||||
| -rw-r--r-- | src/examples/subscriber/subscriber_example.cpp | 43 | ||||
| -rw-r--r-- | src/examples/subscriber/subscriber_example.h | 9 | ||||
| -rw-r--r-- | src/examples/subscriber/subscriber_main.cpp | 64 | ||||
| -rw-r--r-- | src/examples/subscriber/subscriber_start_nuttx.cpp | 99 |
5 files changed, 140 insertions, 76 deletions
diff --git a/src/examples/subscriber/module.mk b/src/examples/subscriber/module.mk index 3156ebb30..0e02c65b4 100644 --- a/src/examples/subscriber/module.mk +++ b/src/examples/subscriber/module.mk @@ -38,6 +38,7 @@ MODULE_COMMAND = subscriber SRCS = subscriber_main.cpp \ + subscriber_start_nuttx.cpp \ subscriber_example.cpp \ subscriber_params.c diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp index 3c80561ca..e1292f788 100644 --- a/src/examples/subscriber/subscriber_example.cpp +++ b/src/examples/subscriber/subscriber_example.cpp @@ -43,8 +43,8 @@ using namespace px4; -void rc_channels_callback_function(const PX4_TOPIC_T(rc_channels) &msg) { - PX4_INFO("I heard: [%llu]", msg.timestamp_last_valid); +void rc_channels_callback_function(const px4_rc_channels &msg) { + PX4_INFO("I heard: [%llu]", msg.data().timestamp_last_valid); } SubscriberExample::SubscriberExample() : @@ -62,11 +62,19 @@ SubscriberExample::SubscriberExample() : /* Do some subscriptions */ /* Function */ - PX4_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _interval); - /* Class Method */ - PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000); + _n.subscribe<px4_rc_channels>(rc_channels_callback_function, _interval); + /* No callback */ - _sub_rc_chan = PX4_SUBSCRIBE(_n, rc_channels, 500); + _sub_rc_chan = _n.subscribe<px4_rc_channels>(500); + + /* Class method */ + _n.subscribe<px4_rc_channels>(&SubscriberExample::rc_channels_callback, this, 1000); + + /* Another class method */ + _n.subscribe<px4_vehicle_attitude>(&SubscriberExample::vehicle_attitude_callback, this, 1000); + + /* Yet antoher class method */ + _n.subscribe<px4_parameter_update>(&SubscriberExample::parameter_update_callback, this, 1000); PX4_INFO("subscribed"); } @@ -75,8 +83,23 @@ SubscriberExample::SubscriberExample() : * This tutorial demonstrates simple receipt of messages over the PX4 middleware system. * 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, - _sub_rc_chan->get().timestamp_last_valid); +void SubscriberExample::rc_channels_callback(const px4_rc_channels &msg) { + PX4_INFO("rc_channels_callback (method): [%llu]", + msg.data().timestamp_last_valid); + PX4_INFO("rc_channels_callback (method): value of _sub_rc_chan: [%llu]", + _sub_rc_chan->data().timestamp_last_valid); +} + +void SubscriberExample::vehicle_attitude_callback(const px4_vehicle_attitude &msg) { + PX4_INFO("vehicle_attitude_callback (method): [%llu]", + msg.data().timestamp); +} + +void SubscriberExample::parameter_update_callback(const px4_parameter_update &msg) { + PX4_INFO("parameter_update_callback (method): [%llu]", + msg.data().timestamp); + PX4_PARAM_GET(_p_sub_interv, &_interval); + PX4_INFO("Param SUB_INTERV = %d", _interval); + PX4_PARAM_GET(_p_test_float, &_test_float); + PX4_INFO("Param SUB_TESTF = %.3f", (double)_test_float); } diff --git a/src/examples/subscriber/subscriber_example.h b/src/examples/subscriber/subscriber_example.h index eb2c956e0..9b6d890e3 100644 --- a/src/examples/subscriber/subscriber_example.h +++ b/src/examples/subscriber/subscriber_example.h @@ -41,7 +41,7 @@ using namespace px4; -void rc_channels_callback_function(const PX4_TOPIC_T(rc_channels) &msg); +void rc_channels_callback_function(const px4_rc_channels &msg); class SubscriberExample { public: @@ -56,9 +56,10 @@ protected: int32_t _interval; px4_param_t _p_test_float; float _test_float; - px4::PX4_SUBSCRIBER(rc_channels) * _sub_rc_chan; - - void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg); + px4::Subscriber<px4_rc_channels> * _sub_rc_chan; + void rc_channels_callback(const px4_rc_channels &msg); + void vehicle_attitude_callback(const px4_vehicle_attitude &msg); + void parameter_update_callback(const px4_parameter_update &msg); }; diff --git a/src/examples/subscriber/subscriber_main.cpp b/src/examples/subscriber/subscriber_main.cpp index 906921e01..798c74163 100644 --- a/src/examples/subscriber/subscriber_main.cpp +++ b/src/examples/subscriber/subscriber_main.cpp @@ -37,70 +37,10 @@ * * @author Thomas Gubler <thomasgubler@gmail.com> */ -#include <string.h> -#include <cstdlib> #include "subscriber_example.h" +bool thread_running = false; /**< Deamon status flag */ -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; - -PX4_MAIN_FUNCTION(subscriber); - -#if !defined(__PX4_ROS) -extern "C" __EXPORT int subscriber_main(int argc, char *argv[]); -int subscriber_main(int argc, char *argv[]) -{ - if (argc < 1) { - errx(1, "usage: subscriber {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("subscriber", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, - 2000, - subscriber_task_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; -} -#endif - -PX4_MAIN_FUNCTION(subscriber) +int main(int argc, char **argv) { px4::init(argc, argv, "subscriber"); diff --git a/src/examples/subscriber/subscriber_start_nuttx.cpp b/src/examples/subscriber/subscriber_start_nuttx.cpp new file mode 100644 index 000000000..6129b19ac --- /dev/null +++ b/src/examples/subscriber/subscriber_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 subscriber_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 subscriber_main(int argc, char *argv[]); +int subscriber_main(int argc, char *argv[]) +{ + if (argc < 1) { + errx(1, "usage: subscriber {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("subscriber", + 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; +} |