mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-05 03:38:53 +08:00
Mark Charlebois
9f391b1867
In the upstream tree ringbuffer.h includes the method implementations in the header file which causes multiple definitions in the link for other targets. Changed so ringbuffer.cpp is build separately for other platforms and is included by ringbuffer.h on NuttX. uORB changes do not link without uORBTest_UnitTest.cpp enabled for the NuttX build. px4_getopt was not exported and wasn't visible in NuttX build. The makefiles were restored to be as close as possible to upstream so the NuttX build builtin's work again. The code will have to be refactored after the merge. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
86 lines
3.0 KiB
C++
86 lines
3.0 KiB
C++
|
|
/****************************************************************************
|
|
*
|
|
* 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file publisher_example.cpp
|
|
* Example subscriber for ros and px4
|
|
*
|
|
* @author Thomas Gubler <thomasgubler@gmail.com>
|
|
*/
|
|
|
|
#include "publisher_example.h"
|
|
|
|
using namespace px4;
|
|
|
|
PublisherExample::PublisherExample() :
|
|
_n(appState),
|
|
_rc_channels_pub(_n.advertise<px4_rc_channels>()),
|
|
_v_att_pub(_n.advertise<px4_vehicle_attitude>()),
|
|
_parameter_update_pub(_n.advertise<px4_parameter_update>())
|
|
{
|
|
}
|
|
|
|
px4::AppState PublisherExample::appState;
|
|
|
|
int PublisherExample::main()
|
|
{
|
|
px4::Rate loop_rate(10);
|
|
|
|
while (!appState.exitRequested()) {
|
|
loop_rate.sleep();
|
|
_n.spinOnce();
|
|
|
|
/* Publish example message */
|
|
px4_rc_channels rc_channels_msg;
|
|
rc_channels_msg.data().timestamp_last_valid = px4::get_time_micros();
|
|
PX4_INFO("rc: %llu", rc_channels_msg.data().timestamp_last_valid);
|
|
_rc_channels_pub->publish(rc_channels_msg);
|
|
|
|
/* Publish example message */
|
|
px4_vehicle_attitude v_att_msg;
|
|
v_att_msg.data().timestamp = px4::get_time_micros();
|
|
PX4_INFO("att: %llu", v_att_msg.data().timestamp);
|
|
_v_att_pub->publish(v_att_msg);
|
|
|
|
/* Publish example message */
|
|
px4_parameter_update parameter_update_msg;
|
|
parameter_update_msg.data().timestamp = px4::get_time_micros();
|
|
PX4_INFO("param update: %llu", parameter_update_msg.data().timestamp);
|
|
_parameter_update_pub->publish(parameter_update_msg);
|
|
|
|
}
|
|
|
|
return 0;
|
|
}
|