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microRTPS_client: use updated uORB API; improve usage

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This commit is contained in:
TSC21
2019-11-22 19:54:59 +00:00
committed by Nuno Marques
parent bc182e94e6
commit ec0803815e
3 changed files with 20 additions and 39 deletions
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src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+3 -3
View File
@@ -74,11 +74,11 @@ struct options {
};
eTransports transport = options::eTransports::UART;
char device[64] = DEVICE;
int update_time_ms = UPDATE_TIME_MS;
uint32_t update_time_ms = UPDATE_TIME_MS;
int loops = LOOPS;
int sleep_ms = SLEEP_MS;
uint32_t sleep_ms = SLEEP_MS;
uint32_t baudrate = BAUDRATE;
int poll_ms = POLL_MS;
uint32_t poll_ms = POLL_MS;
char ip[16] = IP;
uint16_t recv_port = DEFAULT_RECV_PORT;
uint16_t send_port = DEFAULT_SEND_PORT;
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+6 -13
View File
@@ -86,25 +86,23 @@ static int parse_options(int argc, char *argv[])
switch (ch) {
case 't': _options.transport = strcmp(myoptarg, "UDP") == 0 ?
options::eTransports::UDP
: options::eTransports::UART; break;
: options::eTransports::UART; break;
case 'd': if (nullptr != myoptarg) strcpy(_options.device, myoptarg); break;
case 'd': if (nullptr != myoptarg) strcpy(_options.device, myoptarg); break;
case 'u': _options.update_time_ms = strtol(myoptarg, nullptr, 10); break;
case 'u': _options.update_time_ms = strtoul(myoptarg, nullptr, 10); break;
case 'l': _options.loops = strtol(myoptarg, nullptr, 10); break;
case 'l': _options.loops = strtol(myoptarg, nullptr, 10); break;
case 'w': _options.sleep_ms = strtol(myoptarg, nullptr, 10); break;
case 'w': _options.sleep_ms = strtoul(myoptarg, nullptr, 10); break;
case 'b': _options.baudrate = strtoul(myoptarg, nullptr, 10); break;
case 'p': _options.poll_ms = strtol(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 'i': if (nullptr != myoptarg) strcpy(_options.ip, myoptarg); break;
case 'i': if (nullptr != myoptarg) strcpy(_options.ip, myoptarg); break;
default:
usage(argv[1]);
@@ -112,11 +110,6 @@ static int parse_options(int argc, char *argv[])
}
}
if (_options.sleep_ms < 1) {
_options.sleep_ms = 1;
PX4_ERR("sleep time too low, using 1 ms");
}
if (_options.poll_ms < 1) {
_options.poll_ms = 1;
PX4_ERR("poll timeout too low, using 1 ms");