setup omega target with radio driver skeleton

CMakeLists.txt

@@ -1,6 +1,8 @@
 PROJECT(ut_automata)
 CMAKE_MINIMUM_REQUIRED(VERSION 3.1.0)
 
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 MESSAGE(STATUS "Compilers found: ${CMAKE_CXX_COMPILER_LIST}")
 MESSAGE(STATUS "Using compiler: ${CMAKE_CXX_COMPILER}")
 MESSAGE(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
@@ -85,6 +87,13 @@ IF(${CMAKE_BUILD_MODE} MATCHES "Hardware")
   TARGET_LINK_LIBRARIES(joystick ${libs})
 ENDIF()
 
+IF(${CMAKE_BUILD_MODE} MATCHES "Omega")
+  ROSBUILD_ADD_EXECUTABLE(radio_driver
+    src/radio_driver/radio_driver_node.cpp
+    src/radio_driver/radio_driver.cpp)
+  TARGET_LINK_LIBRARIES(radio_driver ${libs})
+ENDIF()
+
 MESSAGE(STATUS "Building simulator")
 
 ROSBUILD_ADD_EXECUTABLE(simulator

Makefile

@@ -20,6 +20,12 @@ hardware: build build/CMakeLists.txt.copy
 	$(info build_mode is [${build_mode}])
 	$(MAKE) --no-print-directory -C build
 
+omega: build_mode=Omega
+omega: build build/CMakeLists.txt.copy
+	$(info build_type is [${build_type}])
+	$(info build_mode is [${build_mode}])
+	$(MAKE) --no-print-directory -C build
+
 clean:
 	rm -rf build bin lib msg_gen src/ut_automata
 

src/radio_driver/radio_driver.cpp

@@ -0,0 +1,26 @@
+#include "radio_driver/radio_driver.h"
+
+static const bool kDebug = false;
+static const float kCommandRate = 20;
+static const float kCommandInterval = 1.0 / kCommandRate;
+
+namespace radio_driver {
+
+RadioDriver::RadioDriver(ros::NodeHandle nh) {
+    // TODO: init radio device
+
+    joystick_sub_ =
+        nh.subscribe("/joystick", 10, &RadioDriver::joystickCallback, this);
+    timer_ = nh.createSteadyTimer(ros::WallDuration(kCommandInterval),
+                                  &RadioDriver::timerCallback, this);
+}
+
+void RadioDriver::joystickCallback(const sensor_msgs::Joy& msg) {
+    // TODO: track this state
+}
+
+void RadioDriver::timerCallback(const ros::SteadyTimerEvent& event) {
+    // TODO: publish commands
+}
+
+}  // namespace radio_driver

src/radio_driver/radio_driver.h

@@ -0,0 +1,18 @@
+#include <ros/ros.h>
+#include <sensor_msgs/Joy.h>
+
+namespace radio_driver {
+
+class RadioDriver {
+   public:
+    RadioDriver(ros::NodeHandle nh);
+
+   private:
+    void joystickCallback(const sensor_msgs::Joy& msg);
+    void timerCallback(const ros::SteadyTimerEvent& event);
+
+    ros::Subscriber joystick_sub_;
+    ros::SteadyTimer timer_;
+};
+
+}  // namespace radio_driver

src/radio_driver/radio_driver_node.cpp

@@ -0,0 +1,15 @@
+#include <ros/ros.h>
+#include <sensor_msgs/Joy.h>
+
+#include "radio_driver/radio_driver.h"
+
+int main(int argc, char** argv) {
+    // Initialize ROS
+    ros::init(argc, argv, "radio_driver");
+    ros::NodeHandle nh;
+
+    radio_driver::RadioDriver radio_driver(nh);
+
+    // Spin
+    ros::spin();
+}