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Enabled UDP in NuttX microRTPS build

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Added commandline argument to change microRTPS ip address
This commit is contained in:
Peter van der Perk
2019-10-29 09:08:21 +00:00
committed by Nuno Marques
parent 375fc4a75c
commit 07eb3d301b
5 changed files with 30 additions and 17 deletions
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msg/templates/urtps/microRTPS_agent.cpp.em
+9 -5
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@@ -80,6 +80,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
#define WAIT_CNST 2
#define DEFAULT_RECV_PORT 2020
#define DEFAULT_SEND_PORT 2019
#define DEFAULT_IP "127.0.0.1"
using namespace eprosima;
using namespace eprosima::fastrtps;
@@ -119,6 +120,7 @@ struct options {
int poll_ms = POLL_MS;
uint16_t recv_port = DEFAULT_RECV_PORT;
uint16_t send_port = DEFAULT_SEND_PORT;
char ip[16] = DEFAULT_IP;
} _options;
static void usage(const char *name)
@@ -130,7 +132,8 @@ static void usage(const char *name)
" -b <baudrate> UART device baudrate. Default 460800\n"
" -p <poll_ms> Time in ms to poll over UART. Default 1ms\n"
" -r <reception port> UDP port for receiving. Default 2019\n"
" -s <sending port> UDP port for sending. Default 2020\n",
" -s <sending port> UDP port for sending. Default 2020\n"
" -i <ip_address> Target IP for UDP. Default 127.0.0.1\n",
name);
}
@@ -147,7 +150,7 @@ static int parse_options(int argc, char **argv)
{
int ch;
while ((ch = getopt(argc, argv, "t:d:w:b:p:r:s:")) != EOF)
while ((ch = getopt(argc, argv, "t:d:w:b:p:r:s:i:")) != EOF)
{
switch (ch)
{
@@ -160,6 +163,7 @@ static int parse_options(int argc, char **argv)
case 'p': _options.poll_ms = strtol(optarg, nullptr, 10); break;
case 'r': _options.recv_port = strtoul(optarg, nullptr, 10); break;
case 's': _options.send_port = strtoul(optarg, nullptr, 10); break;
case 'i': if (nullptr != optarg) strcpy(_options.ip, optarg); break;
default:
usage(argv[0]);
return -1;
@@ -237,9 +241,9 @@ int main(int argc, char** argv)
break;
case options::eTransports::UDP:
{
transport_node = new UDP_node(_options.recv_port, _options.send_port);
printf("\nUDP transport: recv port: %u; send port: %u; sleep: %dus\n\n",
_options.recv_port, _options.send_port, _options.sleep_us);
transport_node = new UDP_node(_options.ip, _options.recv_port, _options.send_port);
printf("\nUDP transport: ip address: %s; recv port: %u; send port: %u; sleep: %dus\n\n",
_options.ip, _options.recv_port, _options.send_port, _options.sleep_us);
}
break;
default: