Restructuring of generic middleware support files, wrapping of the main ROS calls, skeletons for publishers / subscribers

src/examples/subscriber/module.mk

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Subscriber Example Application
+#
+
+MODULE_COMMAND	= subscriber
+
+SRCS		= subscriber.cpp
+
+MODULE_STACKSIZE = 1200

src/examples/subscriber/subscriber.cpp

@@ -25,70 +25,63 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-// %Tag(FULLTEXT)%
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+#include <px4.h>
 #include "px4/rc_channels.h"
 
 /**
- * This tutorial demonstrates simple receipt of messages over the ROS system.
+ * This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
  */
-// %Tag(CALLBACK)%
-void rc_channels_callback(const px4::rc_channels::ConstPtr& msg)
+void rc_channels_callback(const px4::rc_channels::ConstPtr &msg)
 {
-  ROS_INFO("I heard: [%lu]", msg->timestamp_last_valid);
+	PX4_INFO("I heard: [%lu]", msg->timestamp_last_valid);
 }
-// %EndTag(CALLBACK)%
+
+PX4_MAIN_FUNCTION(subscriber)
 
 int main(int argc, char **argv)
 {
-  /**
-   * The ros::init() function needs to see argc and argv so that it can perform
-   * any ROS arguments and name remapping that were provided at the command line. For programmatic
-   * remappings you can use a different version of init() which takes remappings
-   * directly, but for most command-line programs, passing argc and argv is the easiest
-   * way to do it.  The third argument to init() is the name of the node.
-   *
-   * You must call one of the versions of ros::init() before using any other
-   * part of the ROS system.
-   */
-  ros::init(argc, argv, "listener");
+	/**
+	 * The ros::init() function needs to see argc and argv so that it can perform
+	 * any ROS arguments and name remapping that were provided at the command line. For programmatic
+	 * remappings you can use a different version of init() which takes remappings
+	 * directly, but for most command-line programs, passing argc and argv is the easiest
+	 * way to do it.  The third argument to init() is the name of the node.
+	 *
+	 * You must call one of the versions of px4::init() before using any other
+	 * part of the PX4/ ROS system.
+	 */
+	px4::init(argc, argv, "listener");
 
-  /**
-   * NodeHandle is the main access point to communications with the ROS system.
-   * The first NodeHandle constructed will fully initialize this node, and the last
-   * NodeHandle destructed will close down the node.
-   */
-  ros::NodeHandle n;
+	/**
+	 * NodeHandle is the main access point to communications with the ROS system.
+	 * The first NodeHandle constructed will fully initialize this node, and the last
+	 * NodeHandle destructed will close down the node.
+	 */
+	ros::NodeHandle n;
 
-  /**
-   * The subscribe() call is how you tell ROS that you want to receive messages
-   * on a given topic.  This invokes a call to the ROS
-   * master node, which keeps a registry of who is publishing and who
-   * is subscribing.  Messages are passed to a callback function, here
-   * called chatterCallback.  subscribe() returns a Subscriber object that you
-   * must hold on to until you want to unsubscribe.  When all copies of the Subscriber
-   * object go out of scope, this callback will automatically be unsubscribed from
-   * this topic.
-   *
-   * The second parameter to the subscribe() function is the size of the message
-   * queue.  If messages are arriving faster than they are being processed, this
-   * is the number of messages that will be buffered up before beginning to throw
-   * away the oldest ones.
-   */
-// %Tag(SUBSCRIBER)%
-  ros::Subscriber sub = n.subscribe("rc_channels", 1000, rc_channels_callback);
-// %EndTag(SUBSCRIBER)%
+	/**
+	 * The subscribe() call is how you tell ROS that you want to receive messages
+	 * on a given topic.  This invokes a call to the ROS
+	 * master node, which keeps a registry of who is publishing and who
+	 * is subscribing.  Messages are passed to a callback function, here
+	 * called chatterCallback.  subscribe() returns a Subscriber object that you
+	 * must hold on to until you want to unsubscribe.  When all copies of the Subscriber
+	 * object go out of scope, this callback will automatically be unsubscribed from
+	 * this topic.
+	 *
+	 * The second parameter to the subscribe() function is the size of the message
+	 * queue.  If messages are arriving faster than they are being processed, this
+	 * is the number of messages that will be buffered up before beginning to throw
+	 * away the oldest ones.
+	 */
+	ros::Subscriber sub = n.subscribe("rc_channels", 1000, rc_channels_callback);
 
-  /**
-   * ros::spin() will enter a loop, pumping callbacks.  With this version, all
-   * callbacks will be called from within this thread (the main one).  ros::spin()
-   * will exit when Ctrl-C is pressed, or the node is shutdown by the master.
-   */
-// %Tag(SPIN)%
-  ros::spin();
-// %EndTag(SPIN)%
+	/**
+	 * px4::spin() will enter a loop, pumping callbacks.  With this version, all
+	 * callbacks will be called from within this thread (the main one).  px4::spin()
+	 * will exit when Ctrl-C is pressed, or the node is shutdown by the master.
+	 */
+	px4::spin();
 
-  return 0;
+	return 0;
 }
-// %EndTag(FULLTEXT)%