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microRTPS: client: cleanup and make arguments consistent

master
TSC21 4 years ago committed by Nuno Marques
parent
109b031156
commit
fae1627d92
3 changed files with 32 additions and 19 deletions
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  1. 12
      msg/templates/urtps/microRTPS_transport.cpp
  2. 6
      src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
  3. 33
      src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp

12
msg/templates/urtps/microRTPS_transport.cpp
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@ -157,11 +157,11 @@ ssize_t Transport_node::read(uint8_t *topic_id, char out_buffer[], size_t buffer @@ -157,11 +157,11 @@ ssize_t Transport_node::read(uint8_t *topic_id, char out_buffer[], size_t buffer
if (msg_start_pos > (_rx_buff_pos - header_size)) {
#ifndef PX4_DEBUG
if (debug) { printf("\033[1;33m[ micrortps_transport ]\t (↓↓ %" PRIu32 ")\033[0m\n", msg_start_pos); }
if (_debug) { printf("\033[1;33m[ micrortps_transport ]\t (↓↓ %" PRIu32 ")\033[0m\n", msg_start_pos); }
#else
if (debug) { PX4_DEBUG(" (↓↓ %" PRIu32 ")", msg_start_pos); }
if (_debug) { PX4_DEBUG(" (↓↓ %" PRIu32 ")", msg_start_pos); }
#endif /* PX4_DEBUG */
@ -200,11 +200,11 @@ ssize_t Transport_node::read(uint8_t *topic_id, char out_buffer[], size_t buffer @@ -200,11 +200,11 @@ ssize_t Transport_node::read(uint8_t *topic_id, char out_buffer[], size_t buffer
if (msg_start_pos > 0) {
#ifndef PX4_DEBUG
if (debug) { printf("\033[1;33m[ micrortps_transport ]\t (↓ %" PRIu32 ")\033[0m\n", msg_start_pos); }
if (_debug) { printf("\033[1;33m[ micrortps_transport ]\t (↓ %" PRIu32 ")\033[0m\n", msg_start_pos); }
#else
if (debug) { PX4_DEBUG(" (↓ %" PRIu32 ")", msg_start_pos); }
if (_debug) { PX4_DEBUG(" (↓ %" PRIu32 ")", msg_start_pos); }
#endif /* PX4_DEBUG */
memmove(_rx_buffer, _rx_buffer + msg_start_pos, _rx_buff_pos - msg_start_pos);
@ -220,7 +220,7 @@ ssize_t Transport_node::read(uint8_t *topic_id, char out_buffer[], size_t buffer @@ -220,7 +220,7 @@ ssize_t Transport_node::read(uint8_t *topic_id, char out_buffer[], size_t buffer
if (read_crc != calc_crc) {
#ifndef PX4_DEBUG
if (debug) { printf("\033[0;31m[ micrortps_transport ]\tBad CRC %" PRIu16 " != %" PRIu16 "\t\t(↓ %lu)\033[0m\n", read_crc, calc_crc, (unsigned long)(header_size + payload_len)); }
if (_debug) { printf("\033[0;31m[ micrortps_transport ]\tBad CRC %" PRIu16 " != %" PRIu16 "\t\t(↓ %lu)\033[0m\n", read_crc, calc_crc, (unsigned long)(header_size + payload_len)); }
#else
@ -375,7 +375,7 @@ int UART_node::init() @@ -375,7 +375,7 @@ int UART_node::init()
_uart_name, _baudrate);
#else
PX4_ERR("UART transport: ERR SET BAUD %s: Unsupported baudrate: %" PRIu32 "\n\tsupported examples:\n\t9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000, 921600, 1000000\n",
uart_name, baudrate);
_uart_name, _baudrate);
#endif /* PX4_ERR */
close();
return -EINVAL;

6
src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
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@ -51,11 +51,13 @@ @@ -51,11 +51,13 @@
#define LOOPS -1
#define SLEEP_US 1000
#define MAX_SLEEP_US 1000000
#define BAUDRATE 460800
#define MAX_DATA_RATE 10000000
#define DEVICE "/dev/ttyACM0"
#define POLL_MS 1
#define IP "127.0.0.1"
#define MAX_POLL_MS 1000
#define DEFAULT_IP "127.0.0.1"
#define DEFAULT_RECV_PORT 2019
#define DEFAULT_SEND_PORT 2020
#define MIN_TX_INTERVAL_US 1000.f
@ -79,7 +81,7 @@ struct options { @@ -79,7 +81,7 @@ struct options {
};
eTransports transport = options::eTransports::UART;
char device[64] = DEVICE;
char ip[16] = IP;
char ip[16] = DEFAULT_IP;
uint16_t recv_port = DEFAULT_RECV_PORT;
uint16_t send_port = DEFAULT_SEND_PORT;
uint32_t sleep_us = SLEEP_US;

33
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
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@ -75,11 +75,12 @@ static void usage(const char *name) @@ -75,11 +75,12 @@ static void usage(const char *name)
PRINT_MODULE_USAGE_PARAM_STRING('t', "UART", "UART|UDP", "Transport protocol", true);
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyACM0", "<file:dev>", "Select Serial Device", true);
PRINT_MODULE_USAGE_PARAM_INT('b', 460800, 9600, 3000000, "Baudrate (can also be p:<param_name>)", true);
PRINT_MODULE_USAGE_PARAM_INT('m', 0, 10, 10000000, "Maximum sending data rate in B/s", true);
PRINT_MODULE_USAGE_PARAM_INT('p', -1, 1, 1000, "Poll timeout for UART in ms", true);
PRINT_MODULE_USAGE_PARAM_INT('l', 10000, -1, 100000, "Limit number of iterations until the program exits (-1=infinite)",
PRINT_MODULE_USAGE_PARAM_INT('m', 0, 0, MAX_DATA_RATE, "Maximum sending data rate in B/s (0=not limited)", true);
PRINT_MODULE_USAGE_PARAM_INT('p', 1, 1, MAX_POLL_MS, "Poll timeout for UART in milliseconds", true);
PRINT_MODULE_USAGE_PARAM_INT('l', -1, -1, INT32_MAX, "Limit number of iterations until the program exits (-1=infinite)",
true);
PRINT_MODULE_USAGE_PARAM_INT('w', 1, 1, 1000000, "Time in us for which each read from the link iteration sleeps", true);
PRINT_MODULE_USAGE_PARAM_INT('w', 1000, 0, MAX_SLEEP_US,
"Iteration time for data publishing to the uORB side, in microseconds", true);
PRINT_MODULE_USAGE_PARAM_INT('r', 2019, 0, 65536, "Select UDP Network Port for receiving (local)", true);
PRINT_MODULE_USAGE_PARAM_INT('s', 2020, 0, 65536, "Select UDP Network Port for sending (remote)", true);
PRINT_MODULE_USAGE_PARAM_STRING('i', "127.0.0.1", "<x.x.x.x>", "Select IP address (remote)", true);
@ -145,11 +146,21 @@ static int parse_options(int argc, char *argv[]) @@ -145,11 +146,21 @@ static int parse_options(int argc, char *argv[])
if (_options.datarate > MAX_DATA_RATE) {
_options.datarate = MAX_DATA_RATE;
PX4_WARN("Invalid data rate. Using max datarate of %ul B/s", MAX_DATA_RATE);
PX4_WARN("Data rate too high. Using max datarate of %d B/s instead", MAX_DATA_RATE);
}
if (_options.poll_ms < 1) {
PX4_WARN("Poll timeout too low, using %ul ms", POLL_MS);
if (_options.poll_ms < POLL_MS) {
_options.poll_ms = POLL_MS;
PX4_WARN("Poll timeout too low. Using %d ms instead", POLL_MS);
} else if (_options.poll_ms > MAX_POLL_MS) {
_options.poll_ms = MAX_POLL_MS;
PX4_WARN("Poll timeout too high. Using %d ms instead", MAX_POLL_MS);
}
if (_options.sleep_us > MAX_SLEEP_US) {
_options.sleep_us = MAX_SLEEP_US;
PX4_WARN("Publishing iteration cycle too slow. Using %d us instead", MAX_SLEEP_US);
}
if (_options.hw_flow_control && _options.sw_flow_control) {
@ -176,8 +187,8 @@ static int micrortps_start(int argc, char *argv[]) @@ -176,8 +187,8 @@ static int micrortps_start(int argc, char *argv[])
transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms,
_options.sw_flow_control, _options.hw_flow_control, sys_id,
_options.verbose_debug);
PX4_INFO("UART transport: device: %s; baudrate: %" PRIu32 "; sleep: %" PRIu32 "ms; flow_control: %s",
_options.device, _options.baudrate, _options.sleep_us, _options.poll_ms,
PX4_INFO("UART transport: device: %s; baudrate: %" PRIu32 "; poll: %" PRIu32 "ms; flow_control: %s",
_options.device, _options.baudrate, _options.poll_ms,
_options.sw_flow_control ? "SW enabled" : (_options.hw_flow_control ? "HW enabled" : "No"));
}
break;
@ -185,8 +196,8 @@ static int micrortps_start(int argc, char *argv[]) @@ -185,8 +196,8 @@ static int micrortps_start(int argc, char *argv[])
case options::eTransports::UDP: {
transport_node = new UDP_node(_options.ip, _options.recv_port, _options.send_port,
sys_id, _options.verbose_debug);
PX4_INFO("UDP transport: ip address: %s; recv port: %" PRIu16 "; send port: %" PRIu16 "; sleep: %" PRIu32 "us",
_options.ip, _options.recv_port, _options.send_port, _options.sleep_us);
PX4_INFO("UDP transport: ip address: %s; recv port: %" PRIu16 "; send port: %" PRIu16,
_options.ip, _options.recv_port, _options.send_port);
}
break;

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