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microRTPS: improve verbosity with the usage of px4_log types

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This commit is contained in:
TSC21
2019-01-01 23:39:15 +00:00
committed by Nuno Marques
parent adbec90018
commit 3c246ce170
3 changed files with 36 additions and 35 deletions
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src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+10 -10
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@@ -152,7 +152,7 @@ static int parse_options(int argc, char *argv[])
static int micrortps_start(int argc, char *argv[])
{
if (0 > parse_options(argc, argv)) {
printf("EXITING...\n");
PX4_INFO("EXITING...");
_rtps_task = -1;
return -1;
}
@@ -160,26 +160,26 @@ static int micrortps_start(int argc, char *argv[])
switch (_options.transport) {
case options::eTransports::UART: {
transport_node = new UART_node(_options.device, _options.baudrate.code, _options.poll_ms);
printf("\nUART transport: device: %s; baudrate: %d; sleep: %dms; poll: %dms\n\n",
_options.device, _options.baudrate.val, _options.sleep_ms, _options.poll_ms);
PX4_INFO("UART transport: device: %s; baudrate: %d; sleep: %dms; poll: %dms",
_options.device, _options.baudrate.val, _options.sleep_ms, _options.poll_ms);
}
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: %dms\n\n",
_options.recv_port, _options.send_port, _options.sleep_ms);
PX4_INFO("UDP transport: recv port: %u; send port: %u; sleep: %dms",
_options.recv_port, _options.send_port, _options.sleep_ms);
}
break;
default:
_rtps_task = -1;
printf("EXITING...\n");
PX4_INFO("EXITING...");
return -1;
}
if (0 > transport_node->init()) {
printf("EXITING...\n");
PX4_INFO("EXITING...");
_rtps_task = -1;
return -1;
}
@@ -199,14 +199,14 @@ static int micrortps_start(int argc, char *argv[])
double elapsed_secs = double(end.tv_sec - begin.tv_sec) + double(end.tv_nsec - begin.tv_nsec) / double(1000000000);
printf("RECEIVED: %lu messages in %d LOOPS, %d bytes in %.03f seconds - %.02fKB/s\n\n",
(unsigned long)received, loop, total_read, elapsed_secs, (double)total_read / (1000 * elapsed_secs));
PX4_INFO("RECEIVED: %lu messages in %d LOOPS, %d bytes in %.03f seconds - %.02fKB/s",
(unsigned long)received, loop, total_read, elapsed_secs, (double)total_read / (1000 * elapsed_secs));
delete transport_node;
transport_node = nullptr;
PX4_INFO("exiting");
PX4_INFO("Stopped!");
fflush(stdout);