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bd17653383
- SubscriptionInterval.hpp includes Subscription.hpp, but not vice versa - The time literal 1_s is defined in the namespace time_literals
91 lines
3.1 KiB
C++
91 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 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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#pragma once
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <uORB/SubscriptionInterval.hpp>
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#include <uORB/topics/parameter_update.h>
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using namespace time_literals;
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extern "C" __EXPORT int template_module_main(int argc, char *argv[]);
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class TemplateModule : public ModuleBase<TemplateModule>, public ModuleParams
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{
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public:
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TemplateModule(int example_param, bool example_flag);
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virtual ~TemplateModule() = default;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static TemplateModule *instantiate(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase::run() */
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void run() override;
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/** @see ModuleBase::print_status() */
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int print_status() override;
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private:
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/**
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* Check for parameter changes and update them if needed.
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* @param parameter_update_sub uorb subscription to parameter_update
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* @param force for a parameter update
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*/
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void parameters_update(bool force = false);
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::SYS_AUTOSTART>) _param_sys_autostart, /**< example parameter */
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(ParamInt<px4::params::SYS_AUTOCONFIG>) _param_sys_autoconfig /**< another parameter */
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)
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// Subscriptions
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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};
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