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uavcan_status_monitor - running in passive mode

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This commit is contained in:
Pavel Kirienko 2014-09-13 19:14:53 +04:00
parent ca16ab038d
commit cf087cf05a
1 changed files with 7 additions and 10 deletions
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17
libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp
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@ -102,13 +102,11 @@ public:
};
static uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid,
const std::string& name)
static uavcan_linux::NodePtr initNodeInPassiveMode(const std::vector<std::string>& ifaces, const std::string& node_name)
{
auto node = uavcan_linux::makeNode(ifaces);
node->setNodeID(nid);
node->setName(name.c_str());
ENFORCE(0 == node->start()); // This node doesn't check its network compatibility
node->setName(node_name.c_str());
ENFORCE(0 == node->start());
node->setStatusOk();
return node;
}
@ -129,18 +127,17 @@ static void runForever(const uavcan_linux::NodePtr& node)
int main(int argc, const char** argv)
{
if (argc < 3)
if (argc < 2)
{
std::cout << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
std::cout << "Usage:\n\t" << argv[0] << " <can-iface-name-1> [can-iface-name-N...]" << std::endl;
return 1;
}
const int self_node_id = std::stoi(argv[1]);
std::vector<std::string> iface_names;
for (int i = 2; i < argc; i++)
for (int i = 1; i < argc; i++)
{
iface_names.emplace_back(argv[i]);
}
uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.uavcan.linux_test_node_status_monitor");
uavcan_linux::NodePtr node = initNodeInPassiveMode(iface_names, "org.uavcan.status_monitor");
runForever(node);
return 0;
}