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microRTPS: client: cleanup and make arguments consistent

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This commit is contained in:
TSC21
2021-07-23 11:22:03 +02:00
committed by Nuno Marques
parent 109b031156
commit fae1627d92
3 changed files with 32 additions and 19 deletions
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src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+4 -2
View File
@@ -51,11 +51,13 @@
#define LOOPS -1
#define SLEEP_US 1000
#define MAX_SLEEP_US 1000000
#define BAUDRATE 460800
#define MAX_DATA_RATE 10000000
#define DEVICE "/dev/ttyACM0"
#define POLL_MS 1
#define IP "127.0.0.1"
#define MAX_POLL_MS 1000
#define DEFAULT_IP "127.0.0.1"
#define DEFAULT_RECV_PORT 2019
#define DEFAULT_SEND_PORT 2020
#define MIN_TX_INTERVAL_US 1000.f
@@ -79,7 +81,7 @@ struct options {
};
eTransports transport = options::eTransports::UART;
char device[64] = DEVICE;
char ip[16] = IP;
char ip[16] = DEFAULT_IP;
uint16_t recv_port = DEFAULT_RECV_PORT;
uint16_t send_port = DEFAULT_SEND_PORT;
uint32_t sleep_us = SLEEP_US;
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+22 -11
View File
@@ -75,11 +75,12 @@ static void usage(const char *name)
PRINT_MODULE_USAGE_PARAM_STRING('t', "UART", "UART|UDP", "Transport protocol", true);
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyACM0", "<file:dev>", "Select Serial Device", true);
PRINT_MODULE_USAGE_PARAM_INT('b', 460800, 9600, 3000000, "Baudrate (can also be p:<param_name>)", true);
PRINT_MODULE_USAGE_PARAM_INT('m', 0, 10, 10000000, "Maximum sending data rate in B/s", true);
PRINT_MODULE_USAGE_PARAM_INT('p', -1, 1, 1000, "Poll timeout for UART in ms", true);
PRINT_MODULE_USAGE_PARAM_INT('l', 10000, -1, 100000, "Limit number of iterations until the program exits (-1=infinite)",
PRINT_MODULE_USAGE_PARAM_INT('m', 0, 0, MAX_DATA_RATE, "Maximum sending data rate in B/s (0=not limited)", true);
PRINT_MODULE_USAGE_PARAM_INT('p', 1, 1, MAX_POLL_MS, "Poll timeout for UART in milliseconds", true);
PRINT_MODULE_USAGE_PARAM_INT('l', -1, -1, INT32_MAX, "Limit number of iterations until the program exits (-1=infinite)",
true);
PRINT_MODULE_USAGE_PARAM_INT('w', 1, 1, 1000000, "Time in us for which each read from the link iteration sleeps", true);
PRINT_MODULE_USAGE_PARAM_INT('w', 1000, 0, MAX_SLEEP_US,
"Iteration time for data publishing to the uORB side, in microseconds", true);
PRINT_MODULE_USAGE_PARAM_INT('r', 2019, 0, 65536, "Select UDP Network Port for receiving (local)", true);
PRINT_MODULE_USAGE_PARAM_INT('s', 2020, 0, 65536, "Select UDP Network Port for sending (remote)", true);
PRINT_MODULE_USAGE_PARAM_STRING('i', "127.0.0.1", "<x.x.x.x>", "Select IP address (remote)", true);
@@ -145,11 +146,21 @@ static int parse_options(int argc, char *argv[])
if (_options.datarate > MAX_DATA_RATE) {
_options.datarate = MAX_DATA_RATE;
PX4_WARN("Invalid data rate. Using max datarate of %ul B/s", MAX_DATA_RATE);
PX4_WARN("Data rate too high. Using max datarate of %d B/s instead", MAX_DATA_RATE);
}
if (_options.poll_ms < 1) {
PX4_WARN("Poll timeout too low, using %ul ms", POLL_MS);
if (_options.poll_ms < POLL_MS) {
_options.poll_ms = POLL_MS;
PX4_WARN("Poll timeout too low. Using %d ms instead", POLL_MS);
} else if (_options.poll_ms > MAX_POLL_MS) {
_options.poll_ms = MAX_POLL_MS;
PX4_WARN("Poll timeout too high. Using %d ms instead", MAX_POLL_MS);
}
if (_options.sleep_us > MAX_SLEEP_US) {
_options.sleep_us = MAX_SLEEP_US;
PX4_WARN("Publishing iteration cycle too slow. Using %d us instead", MAX_SLEEP_US);
}
if (_options.hw_flow_control && _options.sw_flow_control) {
@@ -176,8 +187,8 @@ static int micrortps_start(int argc, char *argv[])
transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms,
_options.sw_flow_control, _options.hw_flow_control, sys_id,
_options.verbose_debug);
PX4_INFO("UART transport: device: %s; baudrate: %" PRIu32 "; sleep: %" PRIu32 "ms; flow_control: %s",
_options.device, _options.baudrate, _options.sleep_us, _options.poll_ms,
PX4_INFO("UART transport: device: %s; baudrate: %" PRIu32 "; poll: %" PRIu32 "ms; flow_control: %s",
_options.device, _options.baudrate, _options.poll_ms,
_options.sw_flow_control ? "SW enabled" : (_options.hw_flow_control ? "HW enabled" : "No"));
}
break;
@@ -185,8 +196,8 @@ static int micrortps_start(int argc, char *argv[])
case options::eTransports::UDP: {
transport_node = new UDP_node(_options.ip, _options.recv_port, _options.send_port,
sys_id, _options.verbose_debug);
PX4_INFO("UDP transport: ip address: %s; recv port: %" PRIu16 "; send port: %" PRIu16 "; sleep: %" PRIu32 "us",
_options.ip, _options.recv_port, _options.send_port, _options.sleep_us);
PX4_INFO("UDP transport: ip address: %s; recv port: %" PRIu16 "; send port: %" PRIu16,
_options.ip, _options.recv_port, _options.send_port);
}
break;