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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
microRTPS bridge: fix UART baudrate set
This commit is contained in:
TSC21
Nuno Marques
parent
1bef35d843
commit
16f663ad52
@ -76,8 +76,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
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// Default values
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#define DEVICE "/dev/ttyACM0"
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#define SLEEP_US 1
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#define BAUDRATE B460800
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#define BAUDRATE_VAL 460800
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#define BAUDRATE 460800
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#define POLL_MS 0
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#define WAIT_CNST 2
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#define DEFAULT_RECV_PORT 2020
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@ -92,23 +91,6 @@ Transport_node *transport_node = nullptr;
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RtpsTopics topics;
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uint32_t total_sent = 0, sent = 0;
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struct baudtype {
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speed_t code;
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uint32_t val;
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};
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const baudtype baudlist[] = {
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[0] = {.code = B0, .val = 0},
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[1] = {.code = B9600, .val = 9600},
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[2] = {.code = B19200, .val = 19200},
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[3] = {.code = B38400, .val = 38400},
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[4] = {.code = B57600, .val = 57600},
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[5] = {.code = B115200, .val = 115200},
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[6] = {.code = B230400, .val = 230400},
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[7] = {.code = B460800, .val = 460800},
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[8] = {.code = B921600, .val = 921600},
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};
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struct options {
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enum class eTransports
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{
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@ -118,7 +100,7 @@ struct options {
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eTransports transport = options::eTransports::UART;
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char device[64] = DEVICE;
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int sleep_us = SLEEP_US;
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baudtype baudrate = {.code=BAUDRATE,.val=BAUDRATE_VAL};
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uint32_t baudrate = BAUDRATE;
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int poll_ms = POLL_MS;
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uint16_t recv_port = DEFAULT_RECV_PORT;
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uint16_t send_port = DEFAULT_SEND_PORT;
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@ -139,15 +121,6 @@ static void usage(const char *name)
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name);
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}
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baudtype getbaudrate(char *valstr)
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{
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uint32_t baudval = strtoul(valstr, nullptr, 10);
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for (unsigned int i=1; i<sizeof(baudlist)/sizeof(baudtype); i++) {
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if (baudlist[i].val==baudval) return baudlist[i];
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}
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return baudlist[0];
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}
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static int parse_options(int argc, char **argv)
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{
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int ch;
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@ -161,7 +134,7 @@ static int parse_options(int argc, char **argv)
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:options::eTransports::UART; break;
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case 'd': if (nullptr != optarg) strcpy(_options.device, optarg); break;
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case 'w': _options.sleep_us = strtol(optarg, nullptr, 10); break;
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case 'b': _options.baudrate = getbaudrate(optarg); break;
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case 'b': _options.baudrate = strtoul(optarg, nullptr, 10); break;
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case 'p': _options.poll_ms = strtol(optarg, nullptr, 10); break;
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case 'r': _options.recv_port = strtoul(optarg, nullptr, 10); break;
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case 's': _options.send_port = strtoul(optarg, nullptr, 10); break;
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@ -191,13 +164,13 @@ void signal_handler(int signum)
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@[if recv_topics]@
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std::atomic<bool> exit_sender_thread(false);
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std::condition_variable t_send_queue_cv;
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std::mutex t_send_queue_mutex;
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std::mutex t_send_queue_mutex;
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std::queue<uint8_t> t_send_queue;
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void t_send(void *data)
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{
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char data_buffer[BUFFER_SIZE] = {};
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int length = 0;
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int length = 0;
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while (running && !exit_sender_thread.load())
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{
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@ -209,7 +182,7 @@ void t_send(void *data)
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uint8_t topic_ID = t_send_queue.front();
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t_send_queue.pop();
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lk.unlock();
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uint16_t header_length = transport_node->get_header_length();
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/* make room for the header to fill in later */
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eprosima::fastcdr::FastBuffer cdrbuffer(&data_buffer[header_length], sizeof(data_buffer)-header_length);
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@ -242,9 +215,9 @@ int main(int argc, char** argv)
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{
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case options::eTransports::UART:
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{
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transport_node = new UART_node(_options.device, _options.baudrate.code, _options.poll_ms);
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transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms);
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printf("\nUART transport: device: %s; baudrate: %d; sleep: %dus; poll: %dms\n\n",
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_options.device, _options.baudrate.val, _options.sleep_us, _options.poll_ms);
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_options.device, _options.baudrate, _options.sleep_us, _options.poll_ms);
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}
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break;
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case options::eTransports::UDP:
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@ -52,14 +52,7 @@
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#define UPDATE_TIME_MS 0
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#define LOOPS -1
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#define SLEEP_MS 1
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#define BAUDRATE B460800
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#define BAUDRATE_VAL 460800
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#ifndef B460800
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#define B460800 460800
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#endif
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#ifndef B921600
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#define B921600 921600
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#endif
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#define BAUDRATE 460800
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#define DEVICE "/dev/ttyACM0"
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#define POLL_MS 1
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#define IP "127.0.0.1"
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@ -84,7 +77,7 @@ struct options {
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int update_time_ms = UPDATE_TIME_MS;
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int loops = LOOPS;
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int sleep_ms = SLEEP_MS;
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struct baudtype baudrate = {.code = BAUDRATE, .val = BAUDRATE_VAL};
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uint32_t baudrate = BAUDRATE;
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int poll_ms = POLL_MS;
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char ip[16] = IP;
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uint16_t recv_port = DEFAULT_RECV_PORT;
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@ -54,20 +54,6 @@ bool _should_exit_task = false;
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Transport_node *transport_node = nullptr;
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struct options _options;
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const baudtype baudlist[] = {
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[0] = {.code = B0, .val = 0},
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[1] = {.code = B9600, .val = 9600},
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[2] = {.code = B19200, .val = 19200},
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[3] = {.code = B38400, .val = 38400},
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[4] = {.code = B57600, .val = 57600},
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[5] = {.code = B115200, .val = 115200},
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[6] = {.code = B230400, .val = 230400},
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[7] = {.code = B460800, .val = 460800},
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[8] = {.code = B921600, .val = 921600}
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};
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baudtype getbaudrate(const char *valstr);
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static void usage(const char *name)
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{
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PRINT_MODULE_USAGE_NAME("micrortps_client", "communication");
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@ -90,19 +76,6 @@ static void usage(const char *name)
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PRINT_MODULE_USAGE_COMMAND("status");
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}
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baudtype getbaudrate(const char *valstr)
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{
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int baudval;
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if (px4_get_parameter_value(valstr, baudval) == 0) {
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for (unsigned int i = 1; i < sizeof(baudlist) / sizeof(baudtype); i++) {
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if (baudlist[i].val == (unsigned)baudval) { return baudlist[i]; }
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}
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}
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return baudlist[0];
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}
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static int parse_options(int argc, char *argv[])
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{
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int ch;
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@ -123,7 +96,7 @@ static int parse_options(int argc, char *argv[])
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case 'w': _options.sleep_ms = strtol(myoptarg, nullptr, 10); break;
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case 'b': _options.baudrate = getbaudrate(myoptarg); break;
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case 'b': _options.baudrate = strtoul(myoptarg, nullptr, 10); break;
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case 'p': _options.poll_ms = strtol(myoptarg, nullptr, 10); break;
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@ -162,9 +135,9 @@ static int micrortps_start(int argc, char *argv[])
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switch (_options.transport) {
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case options::eTransports::UART: {
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transport_node = new UART_node(_options.device, _options.baudrate.code, _options.poll_ms);
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transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms);
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PX4_INFO("UART transport: device: %s; baudrate: %d; sleep: %dms; poll: %dms",
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_options.device, _options.baudrate.val, _options.sleep_ms, _options.poll_ms);
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_options.device, _options.baudrate, _options.sleep_ms, _options.poll_ms);
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}
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break;
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