Add Logging example

SConscript

@@ -27,6 +27,9 @@ if GetDepend('ROSSERIAL_USING_BUTTON_UART'):
 if GetDepend('ROSSERIAL_USING_PUB_SUB_UART'):
     src    += Glob('examples/pubsub.cpp')
 
+if GetDepend('ROSSERIAL_USING_LOGGING_UART'):
+    src    += Glob('examples/logging.cpp')
+
 if GetDepend('ROSSERIAL_USING_HELLO_WORLD_TCP'):
     src    += Glob('examples/hello_world_tcp.cpp')
 

examples/logging.cpp

@@ -0,0 +1,71 @@
+/*
+ * rosserial PubSub Example
+ * Prints "hello world!" and toggles led
+ */
+
+#include <rtthread.h>
+#include <board.h>
+#include <ros.h>
+#include <std_msgs/String.h>
+#include <std_msgs/Empty.h>
+
+static ros::NodeHandle  nh;
+
+static std_msgs::String str_msg;
+static ros::Publisher chatter("chatter", &str_msg);
+
+static char hello[13] = "hello world!";
+
+static char debug[]= "debug statements";
+static char info[] = "infos";
+static char warn[] = "warnings";
+static char error[] = "errors";
+static char fatal[] = "fatalities";
+
+static void rosserial_logging_thread_entry(void *parameter)
+{
+    nh.initNode();
+    nh.advertise(chatter);
+    while (1)
+    {
+        str_msg.data = hello;
+        chatter.publish( &str_msg );
+
+        nh.logdebug(debug);
+        nh.loginfo(info);
+        nh.logwarn(warn);
+        nh.logerror(error);
+        nh.logfatal(fatal);
+
+        nh.spinOnce();
+        rt_thread_mdelay(500);
+    }
+}
+
+static void rosserial_logging_example(int argc,char *argv[])
+{
+    rt_thread_t thread = rt_thread_create("r_log", rosserial_logging_thread_entry, RT_NULL, 1024, 25, 10);
+    if(thread != RT_NULL)
+    {
+        rt_thread_startup(thread);
+        rt_kprintf("[rosserial] New thread r_log\n");
+    }
+    else
+    {
+        rt_kprintf("[rosserial] Failed to create thread r_log\n");
+    }
+}
+MSH_CMD_EXPORT(rosserial_logging_example, roserial publish and subscribe with UART);
+
+// If you are using Keil, you can ignore everything below
+
+// This is required
+// If you'd like to compile with scons which uses arm-none-eabi-gcc
+// extern "C" void __cxa_pure_virtual()
+// {
+//     while (1);
+//}
+
+// Moreover, you need to add:
+// CXXFLAGS = CFLAGS + ' -fno-rtti'
+// in rtconfig.py for arm-none-eabi-gcc