Diff: main.cpp

Branch:

test_v0.3.2

Revision:

4:2030aed3c888

Parent:

1:c01b621ed377

--- a/main.cpp	Sun Mar 13 21:27:29 2022 +0900
+++ b/main.cpp	Sun Mar 13 21:41:01 2022 +0900
@@ -1,4 +1,4 @@
-/* mros2 on Mbed Example
+/* mros2 example
  * Copyright (c) 2021 smorita_emb
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
@@ -15,11 +15,15 @@
  */
 
 #include "mbed.h"
-#include "mbed-trace/mbed_trace.h"
 #include "mros2.h"
 #include "std_msgs/msg/string.hpp"
 #include "EthernetInterface.h"
 
+#define IP_ADDRESS ("192.168.11.2") /* IP address */
+#define SUBNET_MASK ("255.255.255.0") /* Subnet mask */
+#define DEFAULT_GATEWAY ("192.168.11.1") /* Default gateway */
+
+
 mros2::Subscriber sub;
 mros2::Publisher pub;
 
@@ -30,30 +34,23 @@
   pub.publish(*msg);
 }
 
-DigitalOut led1(LED1);
-#define IP_ADDRESS ("192.168.11.2") /* IP address
-                                       if you want to change this, you also have to 
-                                       modify the file below(IP_ADDRESS). 
-                                       [embeddedRTPS/include/rtps/config.h]  */
-#define SUBNET_MASK ("255.255.255.0") /* Subnet mask */
-#define DEFAULT_GATEWAY ("192.168.11.1") /* Default gateway */
 int main() {
-    EthernetInterface network;
-    network.set_dhcp(false);
-    network.set_network(IP_ADDRESS, SUBNET_MASK, DEFAULT_GATEWAY);
-    nsapi_size_or_error_t result = network.connect();
+  EthernetInterface network;
+  network.set_dhcp(false);
+  network.set_network(IP_ADDRESS, SUBNET_MASK, DEFAULT_GATEWAY);
+  nsapi_size_or_error_t result = network.connect();
 
-    printf("mbed mros2 start!\r\n");
-    mros2::init(0, NULL);
-    printf("mROS 2 initialization is completed\r\n");
+  printf("mbed mros2 start!\r\n");
+  printf("app name: echoreply_string\r\n");
+  mros2::init(0, NULL);
+  MROS2_DEBUG("mROS 2 initialization is completed\r\n");
 
-    mros2::Node node = mros2::Node::create_node("mros2_node");
-    pub = node.create_publisher<std_msgs::msg::String>("to_linux", 10);
-    sub = node.create_subscription("to_stm", 10, userCallback);
-    std_msgs::msg::String msg;
+  mros2::Node node = mros2::Node::create_node("mros2_node");
+  pub = node.create_publisher<std_msgs::msg::String>("to_linux", 10);
+  sub = node.create_subscription<std_msgs::msg::String>("to_stm", 10, userCallback);
 
-    printf("ready to pub/sub message\r\n");
-    mros2::spin();
+  MROS2_INFO("ready to pub/sub message\r\n");
 
-    return 0;
-}
+  mros2::spin();
+  return 0;
+}
\ No newline at end of file