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86 lines
2.6 KiB
86 lines
2.6 KiB
/**************************************************************************** |
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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 px4_app.h |
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* |
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* PX4 app template classes, functions and defines. Apps need to call their |
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* main function PX4_MAIN. |
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*/ |
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#pragma once |
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namespace px4 |
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{ |
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class AppState |
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{ |
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public: |
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~AppState() {} |
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#if defined(__PX4_ROS) |
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AppState() {} |
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bool exitRequested() { return !ros::ok(); } |
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void requestExit() { ros::shutdown(); } |
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#else |
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AppState() : _exitRequested(false), _isRunning(false) {} |
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bool exitRequested() { return _exitRequested; } |
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void requestExit() { _exitRequested = true; } |
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bool isRunning() { return _isRunning; } |
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void setRunning(bool running) { _isRunning = running; } |
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protected: |
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bool _exitRequested; |
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bool _isRunning; |
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#endif |
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private: |
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AppState(const AppState &); |
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const AppState &operator=(const AppState &); |
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}; |
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} |
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// Task/process based build |
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#if defined(__PX4_ROS) || defined(__PX4_NUTTX) |
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// Thread based build |
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#else |
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#ifdef PX4_MAIN |
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extern int PX4_MAIN(int argc, char *argv[]); |
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#endif |
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#endif |
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