mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
466b5db36f
- create common uORB::PublicationBase - uORB::PublicationQueued types are now type aliases - ORB_PRIO use enum type everywhere to avoid accidental misuse - PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
138 lines
3.9 KiB
C++
138 lines
3.9 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. 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 hello_example.cpp
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* Example for Linux
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*
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* @author Mark Charlebois <charlebm@gmail.com>
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*/
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#include "muorb_test_example.h"
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#include <px4_platform_common/log.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <px4_platform_common/defines.h>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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px4::AppState MuorbTestExample::appState;
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int MuorbTestExample::main()
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{
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int rc;
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appState.setRunning(true);
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rc = PingPongTest();
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appState.setRunning(false);
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return rc;
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}
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int MuorbTestExample::DefaultTest()
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{
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int i = 0;
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uORB::Subscription sub_vc{ORB_ID(vehicle_command)};
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uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
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uORB::Publication<esc_status_s> pub_id{ORB_ID(esc_status)};
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pub_id.publish(m_esc_status);
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while (!appState.exitRequested() && i < 100) {
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PX4_DEBUG("[%d] Doing work...", i);
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if (!pub_id.publish(m_esc_status)) {
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PX4_ERR("[%d]Error publishing the esc status message for iter", i);
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break;
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}
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if (sub_vc.updated()) {
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PX4_DEBUG("[%d]Vechicle Status is updated... reading new value", i);
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if (!sub_vc.copy(&m_vc)) {
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PX4_ERR("[%d]Error calling orb copy for vechivle status... ", i);
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break;
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}
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if (!vcmd_pub.publish(m_vc)) {
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PX4_ERR("[%d]Error publishing the vechile command message", i);
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break;
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}
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} else {
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PX4_ERR("[%d]Error checking the updated status for vechile command... ", i);
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PX4_DEBUG("[%d] VC topic is not updated", i);
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break;
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}
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++i;
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}
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return 0;
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}
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int MuorbTestExample::PingPongTest()
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{
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int i = 0;
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uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
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uORB::Subscription sub_esc_status{ORB_ID(esc_status)};
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while (!appState.exitRequested()) {
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PX4_INFO("[%d] Doing work...", i);
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if (sub_esc_status.updated()) {
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PX4_INFO("[%d]ESC status is updated... reading new value", i);
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if (!sub_esc_status.copy(&m_esc_status)) {
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PX4_ERR("[%d]Error calling orb copy for esc status... ", i);
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break;
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}
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if (!vcmd_pub.publish(m_vc)) {
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PX4_ERR("[%d]Error publishing the vechile command message", i);
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break;
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}
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} else {
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PX4_INFO("[%d] esc status topic is not updated", i);
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}
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// sleep for 1 sec.
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usleep(1000000);
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++i;
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}
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return 0;
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}
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