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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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libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp
+7 -10
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@@ -102,13 +102,11 @@ public:
}; };
static uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid, static uavcan_linux::NodePtr initNodeInPassiveMode(const std::vector<std::string>& ifaces, const std::string& node_name)
const std::string& name)
{ {
auto node = uavcan_linux::makeNode(ifaces); auto node = uavcan_linux::makeNode(ifaces);
node->setNodeID(nid); node->setName(node_name.c_str());
node->setName(name.c_str()); ENFORCE(0 == node->start());
ENFORCE(0 == node->start()); // This node doesn't check its network compatibility
node->setStatusOk(); node->setStatusOk();
return node; return node;
} }
@@ -129,18 +127,17 @@ static void runForever(const uavcan_linux::NodePtr& node)
int main(int argc, const char** argv) 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; return 1;
} }
const int self_node_id = std::stoi(argv[1]);
std::vector<std::string> iface_names; 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]); 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); runForever(node);
return 0; return 0;
} }