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Diffstat (limited to 'src/platforms/px4_middleware.h')
-rw-r--r-- | src/platforms/px4_middleware.h | 84 |
1 files changed, 84 insertions, 0 deletions
diff --git a/src/platforms/px4_middleware.h b/src/platforms/px4_middleware.h new file mode 100644 index 000000000..735d34234 --- /dev/null +++ b/src/platforms/px4_middleware.h @@ -0,0 +1,84 @@ +/**************************************************************************** + * + * 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> +#include <unistd.h> + +namespace px4 +{ + +__EXPORT void init(int argc, char *argv[], const char *process_name); + +__EXPORT uint64_t get_time_micros(); + +#if defined(__PX4_ROS) +/** + * Returns true if the app/task should continue to run + */ +inline bool ok() { return ros::ok(); } +#else +extern bool task_should_exit; +/** + * Returns true if the app/task should continue to run + */ +__EXPORT inline bool ok() { return !task_should_exit; } +#endif + +class Rate +{ +public: + /** + * Construct the Rate object and set rate + * @param rate_hz rate from which sleep time is calculated in Hz + */ + explicit Rate(unsigned rate_hz) { sleep_interval = 1e6 / rate_hz; } + + /** + * Sleep for 1/rate_hz s + */ + void sleep() { usleep(sleep_interval); } + +private: + uint64_t sleep_interval; + +}; + +} // namespace px4 |