mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-06 13:10:36 +08:00
Thomas Gubler
97 lines
2.8 KiB
C++
97 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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__EXPORT bool ok();
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__EXPORT void spin_once();
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__EXPORT void spin();
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class Rate
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{
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public:
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explicit Rate(unsigned rate_hz) { sleep_interval = 1e6 / rate_hz; }
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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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// /**
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// * A limiter/ saturation.
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// * The output of update is the input, bounded
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// * by min/max.
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// */
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// class __EXPORT BlockLimit : public Block
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// {
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// public:
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// // methods
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// BlockLimit(SuperBlock *parent, const char *name) :
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// Block(parent, name),
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// _min(this, "MIN"),
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// _max(this, "MAX")
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// {};
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// virtual ~BlockLimit() {};
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// float update(float input);
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// // accessors
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// float getMin() { return _min.get(); }
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// float getMax() { return _max.get(); }
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// protected:
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// // attributes
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// control::BlockParamFloat _min;
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// control::BlockParamFloat _max;
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// };
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} // namespace px4
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