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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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src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+1
View File
@@ -82,6 +82,7 @@ struct options {
int loops = LOOPS;
bool sw_flow_control = false;
bool hw_flow_control = false;
bool verbose_debug = false;
};
extern struct options _options;
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+8 -3
View File
@@ -72,6 +72,7 @@ static void usage(const char *name)
PRINT_MODULE_USAGE_PARAM_STRING('i', "127.0.0.1", "<x.x.x.x>", "Select IP address (remote)", true);
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Activate UART link SW flow control", true);
PRINT_MODULE_USAGE_PARAM_FLAG('h', "Activate UART link HW flow control", true);
PRINT_MODULE_USAGE_PARAM_FLAG('v', "Add more verbosity", true);
PRINT_MODULE_USAGE_COMMAND("stop");
PRINT_MODULE_USAGE_COMMAND("status");
@@ -83,7 +84,7 @@ static int parse_options(int argc, char *argv[])
int myoptind = 1;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "t:d:l:w:b:p:r:s:i:fh", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "t:d:l:w:b:p:r:s:i:fhv", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 't': _options.transport = strcmp(myoptarg, "UDP") == 0 ?
options::eTransports::UDP
@@ -107,6 +108,8 @@ static int parse_options(int argc, char *argv[])
case 'h': _options.hw_flow_control = true; break;
case 'v': _options.verbose_debug = true; break;
default:
usage(argv[1]);
return -1;
@@ -137,7 +140,7 @@ static int micrortps_start(int argc, char *argv[])
switch (_options.transport) {
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);
PX4_INFO("UART transport: device: %s; baudrate: %d; sleep: %dms; poll: %dms; flow_control: %s",
_options.device, _options.baudrate, _options.sleep_ms, _options.poll_ms,
_options.sw_flow_control ? "SW enabled" : (_options.hw_flow_control ? "HW enabled" : "No"));
@@ -145,9 +148,11 @@ static int micrortps_start(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);
PX4_INFO("UDP transport: ip address: %s; recv port: %u; send port: %u; sleep: %dms",
_options.ip, _options.recv_port, _options.send_port, _options.sleep_ms);
}
break;