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88f0080a0f
ORB topic advertisements are now global handles that can be used in any context. It is still possible to open a topic node as a publisher, but it's not the default. As a consequence, the type of the handle returned from orb_advertise has changed; all other API remains the same.
116 lines
4.2 KiB
C
116 lines
4.2 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Example User <mail@example.com>
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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_simple_app.c
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* Minimal application example for PX4 autopilot
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*/
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <poll.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/vehicle_attitude.h>
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__EXPORT int px4_simple_app_main(int argc, char *argv[]);
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int px4_simple_app_main(int argc, char *argv[])
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{
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printf("Hello Sky!\n");
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/* subscribe to sensor_combined topic */
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int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
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orb_set_interval(sensor_sub_fd, 1000);
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/* advertise attitude topic */
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struct vehicle_attitude_s att;
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memset(&att, 0, sizeof(att));
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orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
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/* one could wait for multiple topics with this technique, just using one here */
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struct pollfd fds[] = {
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{ .fd = sensor_sub_fd, .events = POLLIN },
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/* there could be more file descriptors here, in the form like:
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* { .fd = other_sub_fd, .events = POLLIN },
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*/
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};
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int error_counter = 0;
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while (true) {
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/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
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int poll_ret = poll(fds, 1, 1000);
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/* handle the poll result */
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if (poll_ret == 0) {
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/* this means none of our providers is giving us data */
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printf("[px4_simple_app] Got no data within a second\n");
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} else if (poll_ret < 0) {
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/* this is seriously bad - should be an emergency */
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if (error_counter < 10 || error_counter % 50 == 0) {
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/* use a counter to prevent flooding (and slowing us down) */
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printf("[px4_simple_app] ERROR return value from poll(): %d\n"
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, poll_ret);
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}
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error_counter++;
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} else {
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if (fds[0].revents & POLLIN) {
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/* obtained data for the first file descriptor */
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struct sensor_combined_s raw;
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/* copy sensors raw data into local buffer */
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orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
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printf("[px4_simple_app] Accelerometer:\t%8.4f\t%8.4f\t%8.4f\n",
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(double)raw.accelerometer_m_s2[0],
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(double)raw.accelerometer_m_s2[1],
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(double)raw.accelerometer_m_s2[2]);
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/* set att and publish this information for other apps */
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att.roll = raw.accelerometer_m_s2[0];
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att.pitch = raw.accelerometer_m_s2[1];
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att.yaw = raw.accelerometer_m_s2[2];
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orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
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}
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/* there could be more file descriptors here, in the form like:
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* if (fds[1..n].revents & POLLIN) {}
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*/
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}
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}
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return 0;
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}
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