write publisher example as class

src/examples/publisher/publisher_example.cpp

@@ -0,0 +1,67 @@
+
+/****************************************************************************
+ *
+ *   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"
+
+PublisherExample::PublisherExample() :
+	_n(),
+	_rc_channels_pub(PX4_ADVERTISE(_n, rc_channels))
+{
+
+}
+
+int PublisherExample::main()
+{
+	px4::Rate loop_rate(10);
+
+	while (px4::ok()) {
+		PX4_TOPIC_T(rc_channels) msg;
+		msg.timestamp_last_valid = px4::get_time_micros();
+		PX4_INFO("%llu", msg.timestamp_last_valid);
+
+		_rc_channels_pub->publish(msg);
+
+		_n.spinOnce();
+		loop_rate.sleep();
+	}
+
+	return 0;
+}