From 4d91c61f8f5aaebd8bcf0add27591fafa9c41dbe Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 2 Dec 2014 10:46:29 +0100 Subject: add macros for easy 2d array support, builds on px4 test build --- .../flow_position_estimator_main.c | 3 +- src/include/px4.h | 2 +- src/include/px4_defines.h | 77 ++++++++++++++++++++++ src/platforms/px4_defines.h | 72 -------------------- 4 files changed, 80 insertions(+), 74 deletions(-) create mode 100644 src/include/px4_defines.h delete mode 100644 src/platforms/px4_defines.h (limited to 'src') 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 0b8c01f79..8cc9ed686 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 #include #include +#include #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/include/px4.h b/src/include/px4.h index 22d661b17..45068a6f7 100644 --- a/src/include/px4.h +++ b/src/include/px4.h @@ -59,7 +59,7 @@ #endif -#include "../platforms/px4_defines.h" +#include #include "../platforms/px4_middleware.h" #include "../platforms/px4_nodehandle.h" #include "../platforms/px4_subscriber.h" diff --git a/src/include/px4_defines.h b/src/include/px4_defines.h new file mode 100644 index 000000000..2dd57940d --- /dev/null +++ b/src/include/px4_defines.h @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * 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_defines.h + * + * Generally used magic defines + */ + +#pragma once + +#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__)) +/* + * Building for running within the ROS environment + */ +#define __EXPORT +#define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv) +#define PX4_WARN ROS_WARN +#define PX4_INFO ROS_INFO +#define PX4_TOPIC(_name) #_name +#define PX4_TOPIC_T(_name) _name +#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, &_obj); +#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf); +#else +/* + * Building for NuttX + */ +#define PX4_MAIN_FUNCTION(_prefix) extern "C" __EXPORT int _prefix##_main(int argc, char *argv[]) +#define PX4_WARN warnx +#define PX4_WARN warnx +#define PX4_INFO warnx +#define PX4_TOPIC(_name) ORB_ID(_name) +#define PX4_TOPIC_T(_name) _name##_s +#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), std::bind(&_cbf, _obj, std::placeholders::_1), _interval) +#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), std::bind(&_cbf, std::placeholders::_1), _interval) +#endif + +/* Overload the PX4_SUBSCRIBE macro to suppport methods and pure functions as callback */ +#define PX4_GET_SUBSCRIBE(_1, _2, _3, _4, _5, NAME, ...) NAME +#define PX4_SUBSCRIBE(...) PX4_GET_SUBSCRIBE(__VA_ARGS__, PX4_SUBSCRIBE_CBMETH, PX4_SUBSCRIBE_CBFUNC)(__VA_ARGS__) +#define PX4_ADVERTISE(_nodehandle, _name) _nodehandle.advertise(PX4_TOPIC(_name)) + +/* wrapper for 2d matrices */ +#define PX4_ARRAY2D(_array, _ncols, _x, _y) (_array[_x * _ncols + _y]) + +/* wrapper for rotation matrices stored in arrays */ +#define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y) diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h deleted file mode 100644 index 84e5c8da0..000000000 --- a/src/platforms/px4_defines.h +++ /dev/null @@ -1,72 +0,0 @@ -/**************************************************************************** - * - * 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_defines.h - * - * Generally used magic defines - */ - -#pragma once - -#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__)) -/* - * Building for running within the ROS environment - */ -#define __EXPORT -#define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv) -#define PX4_WARN ROS_WARN -#define PX4_INFO ROS_INFO -#define PX4_TOPIC(_name) #_name -#define PX4_TOPIC_T(_name) _name -#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, &_obj); -#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf); - -#else -/* - * Building for NuttX - */ -#define PX4_MAIN_FUNCTION(_prefix) extern "C" __EXPORT int _prefix##_main(int argc, char *argv[]) -#define PX4_WARN warnx -#define PX4_WARN warnx -#define PX4_INFO warnx -#define PX4_TOPIC(_name) ORB_ID(_name) -#define PX4_TOPIC_T(_name) _name##_s -#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), std::bind(&_cbf, _obj, std::placeholders::_1), _interval) -#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), std::bind(&_cbf, std::placeholders::_1), _interval) -#endif - -/* Overload the PX4_SUBSCRIBE macro to suppport methods and pure functions as callback */ -#define PX4_GET_SUBSCRIBE(_1, _2, _3, _4, _5, NAME, ...) NAME -#define PX4_SUBSCRIBE(...) PX4_GET_SUBSCRIBE(__VA_ARGS__, PX4_SUBSCRIBE_CBMETH, PX4_SUBSCRIBE_CBFUNC)(__VA_ARGS__) -#define PX4_ADVERTISE(_nodehandle, _name) _nodehandle.advertise(PX4_TOPIC(_name)) -- cgit v1.2.3