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microRTPS: add possibility to set HW or SW flow control; improve verbosity aesthetics

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This commit is contained in:
TSC21
2020-07-31 14:13:10 +01:00
committed by Nuno Marques
parent b2845c60d3
commit 2f4eff4c38
9 changed files with 158 additions and 125 deletions
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src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+2
View File
@@ -80,6 +80,8 @@ struct options {
uint32_t baudrate = BAUDRATE;
uint32_t poll_ms = POLL_MS;
int loops = LOOPS;
bool sw_flow_control = false;
bool hw_flow_control = false;
};
extern struct options _options;
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+22 -9
View File
@@ -70,6 +70,8 @@ static void usage(const char *name)
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_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_COMMAND("stop");
PRINT_MODULE_USAGE_COMMAND("status");
@@ -81,7 +83,7 @@ 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:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "t:d:l:w:b:p:r:s:i:fh", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 't': _options.transport = strcmp(myoptarg, "UDP") == 0 ?
options::eTransports::UDP
@@ -89,18 +91,22 @@ static int parse_options(int argc, char *argv[])
case 'd': if (nullptr != myoptarg) strcpy(_options.device, myoptarg); break;
case 'l': _options.loops = strtol(myoptarg, nullptr, 10); break;
case 'l': _options.loops = strtol(myoptarg, nullptr, 10); break;
case 'w': _options.sleep_ms = strtoul(myoptarg, nullptr, 10); break;
case 'w': _options.sleep_ms = strtoul(myoptarg, nullptr, 10); break;
case 'b': _options.baudrate = strtoul(myoptarg, nullptr, 10); break;
case 'b': _options.baudrate = strtoul(myoptarg, nullptr, 10); break;
case 'r': _options.recv_port = strtoul(myoptarg, nullptr, 10); break;
case 'r': _options.recv_port = strtoul(myoptarg, nullptr, 10); break;
case 's': _options.send_port = strtoul(myoptarg, nullptr, 10); break;
case 's': _options.send_port = strtoul(myoptarg, nullptr, 10); break;
case 'i': if (nullptr != myoptarg) strcpy(_options.ip, myoptarg); break;
case 'f': _options.sw_flow_control = true; break;
case 'h': _options.hw_flow_control = true; break;
default:
usage(argv[1]);
return -1;
@@ -112,6 +118,11 @@ static int parse_options(int argc, char *argv[])
PX4_ERR("poll timeout too low, using 1 ms");
}
if (_options.hw_flow_control && _options.sw_flow_control) {
PX4_ERR("HW and SW flow control set. Please set only one or another");
return -1;
}
return 0;
}
@@ -125,9 +136,11 @@ 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);
PX4_INFO("UART transport: device: %s; baudrate: %d; sleep: %dms; poll: %dms",
_options.device, _options.baudrate, _options.sleep_ms, _options.poll_ms);
transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms,
_options.sw_flow_control, _options.hw_flow_control);
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"));
}
break;