Esempi in C++ (Cpp) per subscribeInitTask

Esempio n. 1

File: main.cpp Progetto: robosavvy/rosserial_stm32f1_tutorials

int main(void)
{  
  SetSysClockTo56();
  
  // ROS nodehandle initialization and topic registration
  nh.initNode();
  
  // Initialize debug LED
  GPIO_InitTypeDef GPIO_Config;
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
  GPIO_Config.GPIO_Pin =  GPIO_Pin_5;
  GPIO_Config.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_Config.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOB, &GPIO_Config);
  GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_RESET);
  
  // Start ROS spin task, responsible for handling callbacks and communications
  if (spinInitTask(&nh))
  {
    // Turn on LED on error
    GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_SET);
    while (1);
  }
  
  // Register and init publish task
  if (publishInitTask(&nh))
  {
    // Turn on LED on error
    GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_SET);
    while (1);
  }

  // Register and init subscribe task
  if (subscribeInitTask(&nh))
  {
    // Turn on LED on error
    GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_SET);
    while (1);
  }
  
  // Enter scheduler and loop forever
  vTaskStartScheduler();
  
  // In case the scheduler returns for some reason,.
  while (1)
  {
    // Turn on LED on error
    GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_SET);
  }
}

Esempio n. 2

File: freertos_demo.cpp Progetto: vmatos/rosserial_tivac_socket_tutorials

// Initialize FreeRTOS and start the initial set of tasks.
int main(void)
{
  // TivaC application specific code
  MAP_FPUEnable();
  MAP_FPULazyStackingEnable();
  
  // Run from the PLL at 120 MHz.
  MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN |
                          SYSCTL_USE_PLL | SYSCTL_CFG_VCO_480), TM4C129FREQ);
                          
  // Make sure the main oscillator is enabled because this is required by
  // the PHY.  The system must have a 25MHz crystal attached to the OSC
  // pins.  The SYSCTL_MOSC_HIGHFREQ parameter is used when the crystal
  // frequency is 10MHz or higher.
  MAP_SysCtlMOSCConfigSet(SYSCTL_MOSC_HIGHFREQ);
  
  MAP_IntEnable(FAULT_NMI);
  MAP_IntEnable(FAULT_MPU);
  MAP_IntEnable(FAULT_BUS);
  MAP_IntEnable(FAULT_USAGE);
  
  ConfigUART(115200);

  UARTprintf("\n\nWelcome to the EK-TM4C129XL FreeRTOS Demo!\n");
  
  // ROS nodehandle initialization and topic registration
  nh.initNode("192.168.1.135");

  // Start ROS spin task, responsible for handling callbacks and communications
  if (spinInitTask(&nh))
  {
    UARTprintf("Couldn't create ROS spin task.\n");
    while (1);
  }
  else 
  {
    UARTprintf("Created ROS spin task.\n");
  }
  
  // Register and init subscribe task
  if (subscribeInitTask(&nh))
  {
    UARTprintf("Couldn't create subscribe task.\n");
    while (1);
  }
  else 
  {
    UARTprintf("Created subscribe task.\n");
  }

  // Register and init publish task
  if (publishInitTask(&nh))
  {
    UARTprintf("Couldn't create publish task.\n");
    while (1);
  }
  else 
  {
    UARTprintf("Created publish task.\n");
  }
  
  // Start the scheduler.  This should not return.
  UARTprintf("Starting scheduller.\n");  
  vTaskStartScheduler();

  // In case the scheduler returns for some reason, print an error and loop forever.
  while (1)
  {
    UARTprintf("Scheduler returned!\n");
  }
}