robofsm_orte.h

#include <orte.h>

#ifdef CONFIG_ORTE_RTL
#include <linux/module.h>
#include <posix/pthread.h>
#define printf rtl_printf
#elif defined CONFIG_ORTE_RTAI
#include <linux/module.h>
#include <rtai/compat.h>  
#define printf rt_printk
#else
#include <stdio.h>
#endif

ORTEDomain *d=NULL;
ORTEPublication *publisherMotor;

uint16_t laserRecv[12];
int16_t motorSpeedCmd[2];

void *subscriberLaserCreate(void *arg) {
        ORTESubscription    *s;
        NtpTime             deadline,minimumSeparation;

        ORTETypeRegisterAdd(d,"LaserMsg",NULL,NULL,NULL,sizeof(laserRecv));
        NTPTIME_BUILD(deadline,10);
        NTPTIME_BUILD(minimumSeparation,0);
        s=ORTESubscriptionCreate(d, IMMEDIATE, BEST_EFFORTS, "laser", "LaserMsg", &laserRecv, &deadline, &minimumSeparation, recvCallBackMotor, NULL, IPADDRESS_INVALID);
        return arg;
}

void *publisherMotorCreate(void *arg) {
        ORTEPublication     *p;
        NtpTime             persistence, delay;

        ORTETypeRegisterAdd(d,"MotorCmdMsg",NULL,NULL,NULL,sizeof(motorSpeedCmd));
        NTPTIME_BUILD(persistence,3);
        NTPTIME_BUILD(delay,1); 
        publisherMotor=ORTEPublicationCreate(d, "motor", "MotorCmdMsg", &motorSpeedCmd, &persistence, 1, NULL,  NULL, &delay);
        return arg;
}

void recvCallBackLaser(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam) {
        uint16_t *instance=(uint16_t *)vinstance;

        switch (info->status) {
                case NEW_DATA:
                        break;
                case DEADLINE:
                        printf("deadline occurred\n");
                        break;
        }
}

void initOrte() {
        ORTEInit();

        ORTEVerbositySetOptions("ALL.0");
        d=ORTEDomainAppCreate(ORTE_DEFAULT_DOMAIN,NULL,NULL,ORTE_FALSE);
        if (!d) {
                printf("ORTEDomainAppCreate failed!\n");
        }
        subscriberLaserCreate(NULL);
        publisherMotorCreate(NULL);
}

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