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microRTPS: add debug verbose option '-v'; use while loop for reads; ease the RTTI check on timesync

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This commit is contained in:
TSC21
2020-07-31 14:13:10 +01:00
committed by Nuno Marques
parent 2f4eff4c38
commit 0124ca6e41
6 changed files with 125 additions and 116 deletions
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msg/templates/urtps/microRTPS_agent.cpp.em
+7 -4
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@@ -110,6 +110,7 @@ struct options {
char ip[16] = DEFAULT_IP;
bool sw_flow_control = false;
bool hw_flow_control = false;
bool verbose_debug = false;
} _options;
static void usage(const char *name)
@@ -124,7 +125,8 @@ static void usage(const char *name)
" -s <sending port> UDP port for sending. Default 2020\n"
" -i <ip_address> Target IP for UDP. Default 127.0.0.1\n"
" -f <sw flow control> Activates UART link SW flow control\n"
" -h <hw flow control> Activates UART link HW flow control\n",
" -h <hw flow control> Activates UART link HW flow control\n"
" -v <debug verbosity> Add more verbosity\n",
name);
}
@@ -132,7 +134,7 @@ static int parse_options(int argc, char **argv)
{
int ch;
while ((ch = getopt(argc, argv, "t:d:w:b:p:r:s:i:fh")) != EOF)
while ((ch = getopt(argc, argv, "t:d:w:b:p:r:s:i:fhv")) != EOF)
{
switch (ch)
{
@@ -148,6 +150,7 @@ static int parse_options(int argc, char **argv)
case 'i': if (nullptr != optarg) strcpy(_options.ip, optarg); break;
case 'f': _options.sw_flow_control = true; break;
case 'h': _options.hw_flow_control = true; break;
case 'v': _options.verbose_debug = true; break;
default:
usage(argv[0]);
return -1;
@@ -234,7 +237,7 @@ int main(int argc, char** argv)
case options::eTransports::UART:
{
transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms,
_options.sw_flow_control, _options.hw_flow_control);
_options.sw_flow_control, _options.hw_flow_control, _options.verbose_debug);
printf("[ micrortps_agent ]\tUART transport: device: %s; baudrate: %d; sleep: %dus; poll: %dms; flow_control: %s\n",
_options.device, _options.baudrate, _options.sleep_us, _options.poll_ms,
_options.sw_flow_control ? "SW enabled" : (_options.hw_flow_control ? "HW enabled" : "No"));
@@ -242,7 +245,7 @@ int main(int argc, char** argv)
break;
case options::eTransports::UDP:
{
transport_node = new UDP_node(_options.ip, _options.recv_port, _options.send_port);
transport_node = new UDP_node(_options.ip, _options.recv_port, _options.send_port, _options.verbose_debug);
printf("[ micrortps_agent ]\tUDP transport: ip address: %s; recv port: %u; send port: %u; sleep: %dus\n",
_options.ip, _options.recv_port, _options.send_port, _options.sleep_us);
}