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comments for px4 defines

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This commit is contained in:
Thomas Gubler 2014-12-04 11:50:59 +01:00
parent 8e8f84bde0
commit befe4c399e
1 changed files with 42 additions and 11 deletions
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53
src/platforms/px4_defines.h
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@ -38,8 +38,10 @@
*/
#pragma once
/* Get the name of the default value fiven the param name */
#define PX4_PARAM_DEFAULT_VALUE_NAME(_name) PARAM_##_name##_DEFAULT
/* Shortcuts to define parameters when the default value is defined according to PX4_PARAM_DEFAULT_VALUE_NAME */
#define PX4_PARAM_DEFINE_INT32(_name) PARAM_DEFINE_INT32(_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name))
#define PX4_PARAM_DEFINE_FLOAT(_name) PARAM_DEFINE_FLOAT(_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name))
@ -50,14 +52,28 @@
*/
#define __EXPORT
#include "ros/ros.h"
/* Main entry point */
#define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv)
/* Print/output wrappers */
#define PX4_WARN ROS_WARN
#define PX4_INFO ROS_INFO
/* Topic Handle */
#define PX4_TOPIC(_name) #_name
/* Topic type */
#define PX4_TOPIC_T(_name) _name
/* Subscribe and providing a class method as callback (do not use directly, use PX4_SUBSCRIBE instead) */
#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, &_obj);
/* Subscribe and providing a function as callback (do not use directly, use PX4_SUBSCRIBE instead) */
#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf);
/* Parameter handle datatype */
typedef const char* px4_param_t;
/* Helper fucntions to set ROS params, only int and float supported */
static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, int value) {
ros::param::set(name, value);
return (px4_param_t)name;
@ -66,35 +82,53 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value) {
ros::param::set(name, value);
return (px4_param_t)name;
};
// #define PARAM_DEFINE_INT32(_name, _default) static const int PX4_ROS_PARAM_DEFAULT_VALUE_NAME(_name) = _default;
// #define PARAM_DEFINE_FLOAT(_name, _default) static const float PX4_ROS_PARAM_DEFAULT_VALUE_NAME(_name) = _default;
/* Initialize a param, in case of ROS the parameter is sent to the parameter server here */
#define PX4_PARAM_INIT(_name) PX4_ROS_PARAM_SET(#_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name))
// #define PX4_PARAM_INIT(_name, _default) ros::param::set(_name, _default)
/* Get value of parameter */
#define PX4_PARAM_GET(_handle, _destpt) ros::param::get(_handle, *_destpt)
#define PX4_PARAM_INT32_T int //XXX
#else
/*
* Building for NuttX
*/
#include <platforms/px4_includes.h>
/* Main entry point */
#define PX4_MAIN_FUNCTION(_prefix) extern "C" __EXPORT int _prefix##_main(int argc, char *argv[])
#define PX4_WARN warnx
/* Print/output wrappers */
#define PX4_WARN warnx
#define PX4_INFO warnx
/* Topic Handle */
#define PX4_TOPIC(_name) ORB_ID(_name)
/* Topic type */
#define PX4_TOPIC_T(_name) _name##_s
/* Subscribe and providing a class method as callback (do not use directly, use PX4_SUBSCRIBE instead) */
#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, _obj, std::placeholders::_1), _interval)
/* Subscribe and providing a function as callback (do not use directly, use PX4_SUBSCRIBE instead) */
#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, std::placeholders::_1), _interval)
/* Parameter handle datatype */
typedef param_t px4_param_t;
/* Initialize a param, get param handle */
#define PX4_PARAM_INIT(_name) param_find(#_name)
/* Get value of parameter */
#define PX4_PARAM_GET(_handle, _destpt) param_get(_handle, _destpt)
#define PX4_PARAM_INT32_T int32_t
#endif
/* Overload the PX4_SUBSCRIBE macro to suppport methods and pure functions as callback */
/* Shortcut for subscribing to topics
* 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__)
/* shortcut for advertising topics */
#define PX4_ADVERTISE(_nodehandle, _name) _nodehandle.advertise<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name))
/* wrapper for 2d matrices */
@ -102,6 +136,3 @@ typedef param_t px4_param_t;
/* wrapper for rotation matrices stored in arrays */
#define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y)
// #define PX4_PARAM_DEFAULT_INT32(_name, _value) static const PX4_PARAM_INT32_T PX4_PARAM_DEFAULT_VALUE_NAME(_name) = _value;
// #define PX4_PARAM_DEFAULT_FLOAT(_name, _value) static const float PX4_PARAM_DEFAULT_VALUE_NAME(_name) = _value;