diff options
Diffstat (limited to 'src/examples')
| -rw-r--r-- | src/examples/fixedwing_control/main.c | 20 | ||||
| -rw-r--r-- | src/examples/flow_position_estimator/flow_position_estimator_main.c | 3 | ||||
| -rw-r--r-- | src/examples/hwtest/hwtest.c | 4 | ||||
| -rw-r--r-- | src/examples/publisher/module.mk | 44 | ||||
| -rw-r--r-- | src/examples/publisher/publisher_example.cpp | 83 | ||||
| -rw-r--r-- | src/examples/publisher/publisher_example.h | 55 | ||||
| -rw-r--r-- | src/examples/publisher/publisher_main.cpp | 56 | ||||
| -rw-r--r-- | src/examples/publisher/publisher_start_nuttx.cpp | 99 | ||||
| -rw-r--r-- | src/examples/subscriber/module.mk | 45 | ||||
| -rw-r--r-- | src/examples/subscriber/subscriber_example.cpp | 105 | ||||
| -rw-r--r-- | src/examples/subscriber/subscriber_example.h | 65 | ||||
| -rw-r--r-- | src/examples/subscriber/subscriber_main.cpp | 55 | ||||
| -rw-r--r-- | src/examples/subscriber/subscriber_params.c | 56 | ||||
| -rw-r--r-- | src/examples/subscriber/subscriber_params.h | 43 | ||||
| -rw-r--r-- | src/examples/subscriber/subscriber_start_nuttx.cpp | 99 |
15 files changed, 823 insertions, 9 deletions
diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c index fcbb54c8e..d8b777b91 100644 --- a/src/examples/fixedwing_control/main.c +++ b/src/examples/fixedwing_control/main.c @@ -61,6 +61,10 @@ #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_controls_0.h> +#include <uORB/topics/actuator_controls_1.h> +#include <uORB/topics/actuator_controls_2.h> +#include <uORB/topics/actuator_controls_3.h> #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/parameter_update.h> @@ -108,7 +112,7 @@ static void usage(const char *reason); * @param att The current attitude. The controller should make the attitude match the setpoint * @param rates_sp The angular rate setpoint. This is the output of the controller. */ -void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, +void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators); /** @@ -133,18 +137,18 @@ static int deamon_task; /**< Handle of deamon task / thread */ static struct params p; static struct param_handles ph; -void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, +void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators) { - /* + /* * The PX4 architecture provides a mixer outside of the controller. * The mixer is fed with a default vector of actuator controls, representing * moments applied to the vehicle frame. This vector * is structured as: * * Control Group 0 (attitude): - * + * * 0 - roll (-1..+1) * 1 - pitch (-1..+1) * 2 - yaw (-1..+1) @@ -226,7 +230,7 @@ int fixedwing_control_thread_main(int argc, char *argv[]) * * Wikipedia description: * http://en.wikipedia.org/wiki/Publish–subscribe_pattern - * + * */ @@ -234,7 +238,7 @@ int fixedwing_control_thread_main(int argc, char *argv[]) /* * Declare and safely initialize all structs to zero. - * + * * These structs contain the system state and things * like attitude, position, the current waypoint, etc. */ @@ -300,7 +304,7 @@ int fixedwing_control_thread_main(int argc, char *argv[]) if (ret < 0) { /* * Poll error, this will not really happen in practice, - * but its good design practice to make output an error message. + * but its good design practice to make output an error message. */ warnx("poll error"); @@ -340,7 +344,7 @@ int fixedwing_control_thread_main(int argc, char *argv[]) } if (manual_sp_updated) - /* get the RC (or otherwise user based) input */ + /* get the RC (or otherwise user based) input */ orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp); /* check if the throttle was ever more than 50% - go later only to failsafe if yes */ diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c index a89ccf933..1ac0c2d04 100644 --- a/src/examples/flow_position_estimator/flow_position_estimator_main.c +++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c @@ -67,6 +67,7 @@ #include <systemlib/perf_counter.h> #include <systemlib/systemlib.h> #include <poll.h> +#include <platforms/px4_defines.h> #include "flow_position_estimator_params.h" @@ -337,7 +338,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) { float sum = 0.0f; for(uint8_t j = 0; j < 3; j++) - sum = sum + speed[j] * att.R[i][j]; + sum = sum + speed[j] * PX4_R(att.R, i, j); global_speed[i] = sum; } diff --git a/src/examples/hwtest/hwtest.c b/src/examples/hwtest/hwtest.c index 95ff346bb..8fd8870da 100644 --- a/src/examples/hwtest/hwtest.c +++ b/src/examples/hwtest/hwtest.c @@ -47,6 +47,10 @@ #include <systemlib/err.h> #include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_controls_0.h> +#include <uORB/topics/actuator_controls_1.h> +#include <uORB/topics/actuator_controls_2.h> +#include <uORB/topics/actuator_controls_3.h> #include <uORB/uORB.h> __EXPORT int ex_hwtest_main(int argc, char *argv[]); 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..e7ab9eb5a --- /dev/null +++ b/src/examples/publisher/publisher_example.cpp @@ -0,0 +1,83 @@ + +/**************************************************************************** + * + * 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>()), + _v_att_pub(_n.advertise<px4_vehicle_attitude>()), + _parameter_update_pub(_n.advertise<px4_parameter_update>()) +{ +} + +int PublisherExample::main() +{ + px4::Rate loop_rate(10); + + while (px4::ok()) { + loop_rate.sleep(); + _n.spinOnce(); + + /* Publish example message */ + px4_rc_channels rc_channels_msg; + rc_channels_msg.data().timestamp_last_valid = px4::get_time_micros(); + PX4_INFO("rc: %llu", rc_channels_msg.data().timestamp_last_valid); + _rc_channels_pub->publish(rc_channels_msg); + + /* Publish example message */ + px4_vehicle_attitude v_att_msg; + v_att_msg.data().timestamp = px4::get_time_micros(); + PX4_INFO("att: %llu", v_att_msg.data().timestamp); + _v_att_pub->publish(v_att_msg); + + /* Publish example message */ + px4_parameter_update parameter_update_msg; + parameter_update_msg.data().timestamp = px4::get_time_micros(); + PX4_INFO("param update: %llu", parameter_update_msg.data().timestamp); + _parameter_update_pub->publish(parameter_update_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..8165b0ffc --- /dev/null +++ b/src/examples/publisher/publisher_example.h @@ -0,0 +1,55 @@ +/**************************************************************************** + * + * 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; + px4::Publisher<px4::px4_vehicle_attitude> * _v_att_pub; + px4::Publisher<px4::px4_parameter_update> * _parameter_update_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; +} diff --git a/src/examples/subscriber/module.mk b/src/examples/subscriber/module.mk new file mode 100644 index 000000000..0e02c65b4 --- /dev/null +++ b/src/examples/subscriber/module.mk @@ -0,0 +1,45 @@ +############################################################################ +# +# 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_main.cpp \ + subscriber_start_nuttx.cpp \ + subscriber_example.cpp \ + subscriber_params.c + +MODULE_STACKSIZE = 2400 diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp new file mode 100644 index 000000000..e1292f788 --- /dev/null +++ b/src/examples/subscriber/subscriber_example.cpp @@ -0,0 +1,105 @@ +/**************************************************************************** + * + * 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_example.cpp + * Example subscriber for ros and px4 + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include "subscriber_params.h" +#include "subscriber_example.h" + +using namespace px4; + +void rc_channels_callback_function(const px4_rc_channels &msg) { + PX4_INFO("I heard: [%llu]", msg.data().timestamp_last_valid); +} + +SubscriberExample::SubscriberExample() : + _n(), + _p_sub_interv(PX4_PARAM_INIT(SUB_INTERV)), + _interval(0), + _p_test_float(PX4_PARAM_INIT(SUB_TESTF)), + _test_float(0.0f) +{ + /* Read the parameter back as example */ + 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); + + /* Do some subscriptions */ + /* Function */ + _n.subscribe<px4_rc_channels>(rc_channels_callback_function, _interval); + + /* No callback */ + _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"); +} + +/** + * 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_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 new file mode 100644 index 000000000..9b6d890e3 --- /dev/null +++ b/src/examples/subscriber/subscriber_example.h @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * 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_example.h + * Example subscriber for ros and px4 + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ +#include <px4.h> + +using namespace px4; + +void rc_channels_callback_function(const px4_rc_channels &msg); + +class SubscriberExample { +public: + SubscriberExample(); + + ~SubscriberExample() {}; + + void spin() {_n.spin();} +protected: + px4::NodeHandle _n; + px4_param_t _p_sub_interv; + int32_t _interval; + px4_param_t _p_test_float; + float _test_float; + 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 new file mode 100644 index 000000000..798c74163 --- /dev/null +++ b/src/examples/subscriber/subscriber_main.cpp @@ -0,0 +1,55 @@ +/**************************************************************************** + * + * 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_main.cpp + * Example subscriber for ros and px4 + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ +#include "subscriber_example.h" +bool thread_running = false; /**< Deamon status flag */ + +int main(int argc, char **argv) +{ + px4::init(argc, argv, "subscriber"); + + PX4_INFO("starting"); + SubscriberExample s; + thread_running = true; + s.spin(); + + PX4_INFO("exiting."); + thread_running = false; + return 0; +} diff --git a/src/examples/subscriber/subscriber_params.c b/src/examples/subscriber/subscriber_params.c new file mode 100644 index 000000000..a43817b5b --- /dev/null +++ b/src/examples/subscriber/subscriber_params.c @@ -0,0 +1,56 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 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_params.c + * Parameters for the subscriber example + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include <px4_defines.h> +#include "subscriber_params.h" + +/** + * Interval of one subscriber in the example in ms + * + * @group Subscriber Example + */ +PX4_PARAM_DEFINE_INT32(SUB_INTERV); + +/** + * Float Demonstration Parameter in the Example + * + * @group Subscriber Example + */ +PX4_PARAM_DEFINE_FLOAT(SUB_TESTF); diff --git a/src/examples/subscriber/subscriber_params.h b/src/examples/subscriber/subscriber_params.h new file mode 100644 index 000000000..f6f1d6ba0 --- /dev/null +++ b/src/examples/subscriber/subscriber_params.h @@ -0,0 +1,43 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 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_params.h + * Default parameters for the subscriber example + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ +#pragma once + +#define PARAM_SUB_INTERV_DEFAULT 100 +#define PARAM_SUB_TESTF_DEFAULT 3.14f 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; +} |