mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-16 14:57:35 +08:00
Beat Küng
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
126 lines
4.1 KiB
C++
126 lines
4.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2015 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_mavlink_debug.cpp
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* Debug application example for PX4 autopilot
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*
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* @author Example User <mail@example.com>
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*/
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#include <px4_platform_common/px4_config.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <string.h>
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#include <poll.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/debug_key_value.h>
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#include <uORB/topics/debug_value.h>
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#include <uORB/topics/debug_vect.h>
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#include <uORB/topics/debug_array.h>
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extern "C" __EXPORT int px4_mavlink_debug_main(int argc, char *argv[]);
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int px4_mavlink_debug_main(int argc, char *argv[])
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{
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printf("Hello Debug!\n");
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/* advertise named debug value */
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struct debug_key_value_s dbg_key;
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strncpy(dbg_key.key, "velx", 10);
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dbg_key.value = 0.0f;
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orb_advert_t pub_dbg_key = orb_advertise(ORB_ID(debug_key_value), &dbg_key);
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/* advertise indexed debug value */
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struct debug_value_s dbg_ind;
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dbg_ind.ind = 42;
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dbg_ind.value = 0.5f;
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orb_advert_t pub_dbg_ind = orb_advertise(ORB_ID(debug_value), &dbg_ind);
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/* advertise debug vect */
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struct debug_vect_s dbg_vect;
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strncpy(dbg_vect.name, "vel3D", 10);
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dbg_vect.x = 1.0f;
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dbg_vect.y = 2.0f;
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dbg_vect.z = 3.0f;
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orb_advert_t pub_dbg_vect = orb_advertise(ORB_ID(debug_vect), &dbg_vect);
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/* advertise debug array */
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struct debug_array_s dbg_array;
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dbg_array.id = 1;
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strncpy(dbg_array.name, "dbg_array", 10);
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orb_advert_t pub_dbg_array = orb_advertise(ORB_ID(debug_array), &dbg_array);
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int value_counter = 0;
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while (value_counter < 100) {
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uint64_t timestamp_us = hrt_absolute_time();
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/* send one named value */
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dbg_key.value = value_counter;
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dbg_key.timestamp = timestamp_us;
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orb_publish(ORB_ID(debug_key_value), pub_dbg_key, &dbg_key);
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/* send one indexed value */
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dbg_ind.value = 0.5f * value_counter;
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dbg_ind.timestamp = timestamp_us;
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orb_publish(ORB_ID(debug_value), pub_dbg_ind, &dbg_ind);
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/* send one vector */
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dbg_vect.x = 1.0f * value_counter;
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dbg_vect.y = 2.0f * value_counter;
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dbg_vect.z = 3.0f * value_counter;
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dbg_vect.timestamp = timestamp_us;
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orb_publish(ORB_ID(debug_vect), pub_dbg_vect, &dbg_vect);
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/* send one array */
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for (size_t i = 0; i < debug_array_s::ARRAY_SIZE; i++) {
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dbg_array.data[i] = value_counter + i * 0.01f;
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}
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dbg_array.timestamp = timestamp_us;
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orb_publish(ORB_ID(debug_array), pub_dbg_array, &dbg_array);
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warnx("sent one more value..");
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value_counter++;
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px4_usleep(500000);
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}
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return 0;
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}
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