mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-06 03:10:35 +08:00
Mark Charlebois
92 lines
2.8 KiB
C++
92 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4_middleware.h
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*
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* PX4 generic middleware wrapper
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*/
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#pragma once
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#include <stdint.h>
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#include <unistd.h>
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namespace px4
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{
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__EXPORT void init(int argc, char *argv[], const char *process_name);
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__EXPORT uint64_t get_time_micros();
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#if defined(__PX4_ROS)
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/**
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* Returns true if the app/task should continue to run
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*/
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inline bool ok() { return ros::ok(); }
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#elif defined(__PX4_NUTTX)
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extern bool task_should_exit;
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/**
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* Returns true if the app/task should continue to run
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*/
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__EXPORT inline bool ok() { return !task_should_exit; }
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#elif defined(__PX4_QURT)
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// FIXME - usleep not supported by DSPAL
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inline void usleep(uint64_t sleep_interval) { }
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#else
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/**
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* Linux needs to have globally unique checks for thread/task status
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*/
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#endif
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class Rate
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{
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public:
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/**
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* Construct the Rate object and set rate
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* @param rate_hz rate from which sleep time is calculated in Hz
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*/
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explicit Rate(unsigned rate_hz) { sleep_interval = 1e6 / rate_hz; }
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/**
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* Sleep for 1/rate_hz s
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*/
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void sleep() { usleep(sleep_interval); }
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private:
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uint64_t sleep_interval;
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};
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} // namespace px4
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