C++: Examples: add Multithread Examples

C++/Examples/Multithread/Makefile

@@ -0,0 +1,9 @@
+CC = g++
+NAVIO = ../../Navio/Common
+INCLUDES = -I ../../Navio
+
+all:
+ $(CC) $(INCLUDES) threaded_baro.cpp $(NAVIO)/MS5611.cpp $(NAVIO)/I2Cdev.cpp $(NAVIO)/Util.cpp -lpthread -o threaded_baro
+
+clean:
+ rm threaded_baro

C++/Examples/Multithread/threaded_baro.cpp

@@ -0,0 +1,66 @@
+/*
+Provided to you by Emlid Ltd (c) 2014.
+twitter.com/emlidtech || www.emlid.com || [email protected]
+
+Example: Get pressure from MS5611 barometer onboard of Navio shield for Raspberry Pi
+using a different thread, to update pressure info in the background
+
+To run this example navigate to the directory containing it and run following commands:
+make
+sudo ./threaded_baro
+*/
+
+#include <Common/MS5611.h>
+#include <Common/Util.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <pthread.h>
+
+void * acquireBarometerData(void * barom)
+{
+ MS5611* barometer = (MS5611*)barom;
+
+ while (true) {
+ barometer->refreshPressure();
+ usleep(10000); // Waiting for pressure data ready
+ barometer->readPressure();
+
+ barometer->refreshTemperature();
+ usleep(10000); // Waiting for temperature data ready
+ barometer->readTemperature();
+
+ barometer->calculatePressureAndTemperature();
+
+ //sleep(0.5);
+ }
+
+ pthread_exit(NULL);
+}
+
+int main()
+{
+ if (check_apm()) {
+ return 1;
+ }
+
+ MS5611 baro;
+ baro.initialize();
+
+ pthread_t baro_thread;
+
+ if(pthread_create(&baro_thread, NULL, acquireBarometerData, (void *)&baro))
+ {
+ printf("Error: Failed to create barometer thread\n");
+ return 0;
+ }
+
+ while(true)
+ {
+ printf("Temperature(C): %f Pressure(millibar): %f\n", baro.getTemperature(), baro.getPressure());
+ sleep(1);
+ }
+
+ pthread_exit(NULL);
+
+ return 1;
+}