fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-30 04:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

This commit fixes the way baud rate is generated from the program argument in

Browse Source 
the FTPS client and agent.

A table has been added to the FTPS client and agent code that correlates
the baud rate value with the encoding.

A function has been added to the FTPS client and agent to take the program
argument for baud rate and use it to look up the table and return the entry
containing both the value and the encoding.

The value is displayed for the user and the encoding is sent to the uart
node constructor.

Signed-off-by: David Riseborough <drisebor@hotmail.com>
This commit is contained in:
David Riseborough
2018-02-05 08:25:03 +01:00
committed by Lorenz Meier
parent 64f032441c
commit 83133b1bca
3 changed files with 67 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/templates/urtps/microRTPS_agent.cpp.template
+32 -5
View File
@@ -58,6 +58,7 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
#include <chrono> #include <chrono>
#include <ctime> #include <ctime>
#include <csignal> #include <csignal>
#include <termios.h>
#include <fastcdr/Cdr.h> #include <fastcdr/Cdr.h>
#include <fastcdr/FastCdr.h> #include <fastcdr/FastCdr.h>
@@ -73,7 +74,8 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
// Default values // Default values
#define DEVICE "/dev/ttyACM0" #define DEVICE "/dev/ttyACM0"
#define SLEEP_US 1 #define SLEEP_US 1
#define BAUDRATE 460800 #define BAUDRATE B460800
#define BAUDRATE_VAL 460800
#define POLL_MS 0 #define POLL_MS 0
#define WAIT_CNST 2 #define WAIT_CNST 2
#define DEFAULT_RECV_PORT 2020 #define DEFAULT_RECV_PORT 2020
@@ -87,6 +89,22 @@ Transport_node *transport_node = nullptr;
RtpsTopics topics; RtpsTopics topics;
uint32_t total_sent = 0, sent = 0; uint32_t total_sent = 0, sent = 0;
struct baudtype {
speed_t code;
uint32_t val;
};
const baudtype baudlist[] = {
[0] = {.code = B0, .val = 0},
[1] = {.code = B9600, .val = 9600},
[2] = {.code = B19200, .val = 19200},
[3] = {.code = B38400, .val = 38400},
[4] = {.code = B57600, .val = 57600},
[5] = {.code = B115200, .val = 115200},
[6] = {.code = B230400, .val = 230400},
[7] = {.code = B460800, .val = 460800},
};
struct options { struct options {
enum class eTransports enum class eTransports
{ {
@@ -96,7 +114,7 @@ struct options {
eTransports transport = options::eTransports::UART; eTransports transport = options::eTransports::UART;
char device[64] = DEVICE; char device[64] = DEVICE;
int sleep_us = SLEEP_US; int sleep_us = SLEEP_US;
uint32_t baudrate = BAUDRATE; baudtype baudrate = {.code=BAUDRATE,.val=BAUDRATE_VAL};
int poll_ms = POLL_MS; int poll_ms = POLL_MS;
uint16_t recv_port = DEFAULT_RECV_PORT; uint16_t recv_port = DEFAULT_RECV_PORT;
uint16_t send_port = DEFAULT_SEND_PORT; uint16_t send_port = DEFAULT_SEND_PORT;
@@ -115,6 +133,15 @@ static void usage(const char *name)
name); name);
} }
baudtype getbaudrate(char *valstr)
{
uint32_t baudval = strtoul(valstr, nullptr, 10);
for (unsigned int i=1; i<sizeof(baudlist)/sizeof(baudtype); i++) {
if (baudlist[i].val==baudval) return baudlist[i];
}
return baudlist[0];
}
static int parse_options(int argc, char **argv) static int parse_options(int argc, char **argv)
{ {
int ch; int ch;
@@ -128,7 +155,7 @@ static int parse_options(int argc, char **argv)
:options::eTransports::UART; break; :options::eTransports::UART; break;
case 'd': if (nullptr != optarg) strcpy(_options.device, optarg); break; case 'd': if (nullptr != optarg) strcpy(_options.device, optarg); break;
case 'w': _options.sleep_us = strtol(optarg, nullptr, 10); break; case 'w': _options.sleep_us = strtol(optarg, nullptr, 10); break;
case 'b': _options.baudrate = strtoul(optarg, nullptr, 10); break; case 'b': _options.baudrate = getbaudrate(optarg); break;
case 'p': _options.poll_ms = strtol(optarg, nullptr, 10); break; case 'p': _options.poll_ms = strtol(optarg, nullptr, 10); break;
case 'r': _options.recv_port = strtoul(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 's': _options.send_port = strtoul(optarg, nullptr, 10); break;
@@ -199,9 +226,9 @@ int main(int argc, char** argv)
{ {
case options::eTransports::UART: case options::eTransports::UART:
{ {
transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms); transport_node = new UART_node(_options.device, _options.baudrate.code, _options.poll_ms);
printf("\nUART transport: device: %s; baudrate: %d; sleep: %dus; poll: %dms\n\n", printf("\nUART transport: device: %s; baudrate: %d; sleep: %dus; poll: %dms\n\n",
_options.device, _options.baudrate, _options.sleep_us, _options.poll_ms); _options.device, _options.baudrate.val, _options.sleep_us, _options.poll_ms);
} }
break; break;
case options::eTransports::UDP: case options::eTransports::UDP:
src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+8 -2
View File
@@ -52,7 +52,8 @@
#define UPDATE_TIME_MS 0 #define UPDATE_TIME_MS 0
#define LOOPS -1 #define LOOPS -1
#define SLEEP_MS 1 #define SLEEP_MS 1
#define BAUDRATE 460800 #define BAUDRATE B460800
#define BAUDRATE_VAL 460800
#define DEVICE "/dev/ttyACM0" #define DEVICE "/dev/ttyACM0"
#define POLL_MS 1 #define POLL_MS 1
#define DEFAULT_RECV_PORT 2019 #define DEFAULT_RECV_PORT 2019
@@ -61,6 +62,11 @@
void *send(void *data); void *send(void *data);
void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &received, int &loop); void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &received, int &loop);
struct baudtype {
speed_t code;
uint32_t val;
};
struct options { struct options {
enum class eTransports { enum class eTransports {
UART, UART,
@@ -71,7 +77,7 @@ struct options {
int update_time_ms = UPDATE_TIME_MS; int update_time_ms = UPDATE_TIME_MS;
int loops = LOOPS; int loops = LOOPS;
int sleep_ms = SLEEP_MS; int sleep_ms = SLEEP_MS;
uint32_t baudrate = BAUDRATE; struct baudtype baudrate = {.code = BAUDRATE, .val = BAUDRATE_VAL};
int poll_ms = POLL_MS; int poll_ms = POLL_MS;
uint16_t recv_port = DEFAULT_RECV_PORT; uint16_t recv_port = DEFAULT_RECV_PORT;
uint16_t send_port = DEFAULT_SEND_PORT; uint16_t send_port = DEFAULT_SEND_PORT;
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+27 -3
View File
@@ -53,6 +53,19 @@ bool _should_exit_task = false;
Transport_node *transport_node = nullptr; Transport_node *transport_node = nullptr;
struct options _options; struct options _options;
const baudtype baudlist[] = {
[0] = {.code = B0, .val = 0},
[1] = {.code = B9600, .val = 9600},
[2] = {.code = B19200, .val = 19200},
[3] = {.code = B38400, .val = 38400},
[4] = {.code = B57600, .val = 57600},
[5] = {.code = B115200, .val = 115200},
[6] = {.code = B230400, .val = 230400},
[7] = {.code = B460800, .val = 460800}
};
baudtype getbaudrate(const char *valstr);
static void usage(const char *name) static void usage(const char *name)
{ {
PRINT_MODULE_USAGE_NAME("micrortps_client", "communication"); PRINT_MODULE_USAGE_NAME("micrortps_client", "communication");
@@ -74,6 +87,17 @@ static void usage(const char *name)
PRINT_MODULE_USAGE_COMMAND("status"); PRINT_MODULE_USAGE_COMMAND("status");
} }
baudtype getbaudrate(const char *valstr)
{
uint32_t baudval = strtoul(valstr, nullptr, 10);
for (unsigned int i = 1; i < sizeof(baudlist) / sizeof(baudtype); i++) {
if (baudlist[i].val == baudval) { return baudlist[i]; }
}
return baudlist[0];
}
static int parse_options(int argc, char *argv[]) static int parse_options(int argc, char *argv[])
{ {
int ch; int ch;
@@ -94,7 +118,7 @@ static int parse_options(int argc, char *argv[])
case 'w': _options.sleep_ms = strtol(myoptarg, nullptr, 10); break; case 'w': _options.sleep_ms = strtol(myoptarg, nullptr, 10); break;
case 'b': _options.baudrate = strtoul(myoptarg, nullptr, 10); break; case 'b': _options.baudrate = getbaudrate(myoptarg); break;
case 'p': _options.poll_ms = strtol(myoptarg, nullptr, 10); break; case 'p': _options.poll_ms = strtol(myoptarg, nullptr, 10); break;
@@ -131,9 +155,9 @@ static int micrortps_start(int argc, char *argv[])
switch (_options.transport) { switch (_options.transport) {
case options::eTransports::UART: { case options::eTransports::UART: {
transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms); 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", printf("\nUART transport: device: %s; baudrate: %d; sleep: %dms; poll: %dms\n\n",
_options.device, _options.baudrate, _options.sleep_ms, _options.poll_ms); _options.device, _options.baudrate.val, _options.sleep_ms, _options.poll_ms);
} }
break; break;