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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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src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+2
View File
@@ -62,6 +62,7 @@
#endif
#define DEVICE "/dev/ttyACM0"
#define POLL_MS 1
#define IP "127.0.0.1"
#define DEFAULT_RECV_PORT 2019
#define DEFAULT_SEND_PORT 2020
@@ -85,6 +86,7 @@ struct options {
int sleep_ms = SLEEP_MS;
struct baudtype baudrate = {.code = BAUDRATE, .val = BAUDRATE_VAL};
int poll_ms = POLL_MS;
char ip[16] = IP;
uint16_t recv_port = DEFAULT_RECV_PORT;
uint16_t send_port = DEFAULT_SEND_PORT;
};
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+7 -4
View File
@@ -84,6 +84,7 @@ static void usage(const char *name)
PRINT_MODULE_USAGE_PARAM_INT('w', 1, 1, 1000, "Time in ms for which each iteration sleeps", 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);
PRINT_MODULE_USAGE_COMMAND("stop");
PRINT_MODULE_USAGE_COMMAND("status");
@@ -108,7 +109,7 @@ static int parse_options(int argc, char *argv[])
int myoptind = 1;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "t:d:u:l:w:b:p:r:s:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "t:d:u:l:w:b:p:r:s:i:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 't': _options.transport = strcmp(myoptarg, "UDP") == 0 ?
options::eTransports::UDP
@@ -130,6 +131,8 @@ static int parse_options(int argc, char *argv[])
case 's': _options.send_port = strtoul(myoptarg, nullptr, 10); break;
case 'i': if (nullptr != myoptarg) strcpy(_options.ip, myoptarg); break;
default:
usage(argv[1]);
return -1;
@@ -166,9 +169,9 @@ static int micrortps_start(int argc, char *argv[])
break;
case options::eTransports::UDP: {
transport_node = new UDP_node(_options.recv_port, _options.send_port);
PX4_INFO("UDP transport: recv port: %u; send port: %u; sleep: %dms",
_options.recv_port, _options.send_port, _options.sleep_ms);
transport_node = new UDP_node(_options.ip, _options.recv_port, _options.send_port);
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;