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make param wrapper macros compatible for px4 and ros, needs cleanup

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This commit is contained in:
Thomas Gubler 2014-12-03 17:04:15 +01:00
parent 924350a5de
commit c2e2b3d52f
5 changed files with 70 additions and 12 deletions
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6
makefiles/setup.mk
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@ -37,13 +37,14 @@
# Some useful paths.
#
# Note that in general we always keep directory paths with the separator
# at the end, and join paths without explicit separators. This reduces
# at the end, and join paths without explicit separators. This reduces
# the number of duplicate slashes we have lying around in paths,
# and is consistent with joining the results of $(dir) and $(notdir).
#
export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/
export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/
export PX4_LIB_DIR = $(abspath $(PX4_BASE)/src/lib)/
export PX4_PLATFORMS_DIR = $(abspath $(PX4_BASE)/src/platforms)/
export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/
export NUTTX_SRC = $(abspath $(PX4_BASE)/NuttX/nuttx)/
export MAVLINK_SRC = $(abspath $(PX4_BASE)/mavlink/include/mavlink/v1.0)/
@ -61,7 +62,8 @@ export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/
export INCLUDE_DIRS := $(PX4_MODULE_SRC) \
$(PX4_MODULE_SRC)/modules/ \
$(PX4_INCLUDE_DIR) \
$(PX4_LIB_DIR)
$(PX4_LIB_DIR) \
$(PX4_PLATFORMS_DIR)
#
# Tools

5
src/examples/subscriber/subscriber.cpp
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@ -26,6 +26,7 @@
*/
#include <px4.h>
#include "subscriber_params.h"
using namespace px4;
@ -75,8 +76,8 @@ PX4_MAIN_FUNCTION(subscriber) {
px4::NodeHandle n;
/* Define parameters */
px4_param_t p_sub_interv = PX4_PARAM_INIT("SUB_INTERV", 100);
px4_param_t p_test_float = PX4_PARAM_INIT("SUB_TESTF", 3.14f);
px4_param_t p_sub_interv = PX4_PARAM_INIT(SUB_INTERV);
px4_param_t p_test_float = PX4_PARAM_INIT(SUB_TESTF);
/* Read the parameter back for testing */
int32_t sub_interval;

7
src/examples/subscriber/subscriber_params.c
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@ -38,18 +38,19 @@
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <systemlib/param/param.h>
#include <px4_defines.h>
#include "subscriber_params.h"
/**
* Interval of one subscriber in the example in ms
*
* @group Subscriber Example
*/
PARAM_DEFINE_INT32(SUB_INTERV, 100);
PARAM_DEFINE_INT32(SUB_INTERV, PX4_PARAM_DEFAULT_VALUE_NAME(SUB_INTERV));
/**
* Float Demonstration Parameter in the Example
*
* @group Subscriber Example
*/
PARAM_DEFINE_FLOAT(SUB_TESTF, 3.14f);
PARAM_DEFINE_FLOAT(SUB_TESTF, PX4_PARAM_DEFAULT_VALUE_NAME(SUB_TESTF));

43
src/examples/subscriber/subscriber_params.h Normal file
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@ -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 SUB_INTERV_DEFAULT_VALUE 100
#define SUB_TESTF_DEFAULT_VALUE 3.14f

21
src/platforms/px4_defines.h
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@ -39,11 +39,15 @@
#pragma once
#define PX4_PARAM_DEFAULT_VALUE_NAME(_name) _name##_DEFAULT_VALUE
#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
/*
* Building for running within the ROS environment
*/
#define __EXPORT
#include "ros/ros.h"
#define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv)
#define PX4_WARN ROS_WARN
#define PX4_INFO ROS_INFO
@ -51,18 +55,21 @@
#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);
typedef const std::string px4_param_t;
static inline px4_param_t ROS_PARAM_SET(const std::string &name, int32_t value) {
typedef const char* px4_param_t;
static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, int value) {
ros::param::set(name, value);
return (px4_param_t)name;
};
static inline px4_param_t ROS_PARAM_SET(const std::string &name, float value) {
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 PX4_PARAM_INIT(_name, _default) ROS_PARAM_SET(_name, _default)
// #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;
#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)
#define PX4_PARAM_GET(_handle, _destpt) ros::param::get(_handle, *_destpt)
#define PX4_PARAM_INT32_T int //XXX
#else
/*
@ -78,8 +85,9 @@ static inline px4_param_t ROS_PARAM_SET(const std::string &name, float value) {
#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)
#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, std::placeholders::_1), _interval)
typedef param_t px4_param_t;
#define PX4_PARAM_INIT(_name, _default) param_find(_name)
#define PX4_PARAM_INIT(_name) param_find(#_name)
#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 */
@ -92,3 +100,6 @@ 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;