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Replay: use GetOptLong for command line parsing

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Peter Barker 2015-06-10 10:09:56 +10:00 committed by Andrew Tridgell
parent 979a571d68
commit 125042e1db
1 changed files with 54 additions and 29 deletions
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83
Tools/Replay/Replay.cpp
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@ -52,10 +52,11 @@
#include <RC_Channel.h>
#include <AP_RangeFinder.h>
#include <stdio.h>
#include <getopt.h>
#include <errno.h>
#include <fenv.h>
#include <VehicleType.h>
#include <getopt.h> // for optind only
#include <utility/getopt_cpp.h>
#ifndef INT16_MIN
#define INT16_MIN -32768
@ -73,7 +74,11 @@ public:
void setup();
void loop();
Replay() : filename("log.bin") { }
private:
const char *filename;
Parameters g;
AP_InertialSensor ins;
@ -110,6 +115,8 @@ private:
bool have_imu2;
bool have_fram;
void _parse_command_line(uint8_t argc, char * const argv[]);
uint8_t num_user_parameters;
struct {
char name[17];
@ -180,55 +187,61 @@ void Replay::load_parameters(void)
void Replay::usage(void)
{
::printf("Options:\n");
::printf(" -rRATE set IMU rate in Hz\n");
::printf(" -pNAME=VALUE set parameter NAME to VALUE\n");
::printf(" -aMASK set accel mask (1=accel1 only, 2=accel2 only, 3=both)\n");
::printf(" -gMASK set gyro mask (1=gyro1 only, 2=gyro2 only, 3=both)\n");
::printf(" -A time arm at time milliseconds)\n");
::printf("\t--rate RATE set IMU rate in Hz\n");
::printf("\t--parm NAME=VALUE set parameter NAME to VALUE\n");
::printf("\t--accel-mask MASK set accel mask (1=accel1 only, 2=accel2 only, 3=both)\n");
::printf("\t--gyro-mask MASK set gyro mask (1=gyro1 only, 2=gyro2 only, 3=both)\n");
::printf("\t--arm-time time arm at time (milliseconds)\n");
}
void Replay::setup()
void Replay::_parse_command_line(uint8_t argc, char * const argv[])
{
::printf("Starting\n");
const struct GetOptLong::option options[] = {
{"rate", true, 0, 'r'},
{"parm", true, 0, 'p'},
{"param", true, 0, 'p'},
{"help", false, 0, 'h'},
{"accel-mask", true, 0, 'a'},
{"gyro-mask", true, 0, 'g'},
{"arm-time", true, 0, 'A'},
{0, false, 0, 0}
};
GetOptLong gopt(argc, argv, "r:p:ha:g:A:", options);
gopt.optind = optind;
const char *filename = "log.bin";
uint8_t argc;
char * const *argv;
int opt;
hal.util->commandline_arguments(argc, argv);
while ((opt = getopt(argc, argv, "r:p:ha:g:A:")) != -1) {
while ((opt = gopt.getoption()) != -1) {
switch (opt) {
case 'h':
usage();
exit(0);
case 'r':
update_rate = strtol(optarg, NULL, 0);
update_rate = strtol(gopt.optarg, NULL, 0);
break;
case 'g':
logreader.set_gyro_mask(strtol(optarg, NULL, 0));
logreader.set_gyro_mask(strtol(gopt.optarg, NULL, 0));
break;
case 'a':
logreader.set_accel_mask(strtol(optarg, NULL, 0));
logreader.set_accel_mask(strtol(gopt.optarg, NULL, 0));
break;
case 'A':
arm_time_ms = strtol(optarg, NULL, 0);
arm_time_ms = strtol(gopt.optarg, NULL, 0);
break;
case 'p':
char *eq = strchr(optarg, '=');
const char *eq = strchr(gopt.optarg, '=');
if (eq == NULL) {
::printf("Usage: -p NAME=VALUE\n");
exit(1);
}
*eq++ = 0;
strncpy(user_parameters[num_user_parameters].name, optarg, 16);
user_parameters[num_user_parameters].value = atof(eq);
memset(user_parameters[num_user_parameters].name, '\0', 16);
strncpy(user_parameters[num_user_parameters].name, gopt.optarg, eq-gopt.optarg);
user_parameters[num_user_parameters].value = atof(eq+1);
num_user_parameters++;
if (num_user_parameters >= sizeof(user_parameters)/sizeof(user_parameters[0])) {
::printf("Too many user parameters\n");
@ -238,17 +251,27 @@ void Replay::setup()
}
}
argv += optind;
argc -= optind;
argv += gopt.optind;
argc -= gopt.optind;
if (argc > 0) {
filename = argv[0];
}
}
void Replay::setup()
{
::printf("Starting\n");
uint8_t argc;
char * const *argv;
hal.util->commandline_arguments(argc, argv);
_parse_command_line(argc, argv);
hal.console->printf("Processing log %s\n", filename);
if (update_rate != 0) {
hal.console->printf("Using an update rate of %u Hz\n", update_rate);
}
hal.console->printf("Using an update rate of %u Hz\n", update_rate);
load_parameters();
@ -282,7 +305,6 @@ void Replay::setup()
ins.set_hil_mode();
switch (update_rate) {
case 0:
case 50:
ins.init(AP_InertialSensor::WARM_START, AP_InertialSensor::RATE_50HZ);
break;
@ -295,6 +317,9 @@ void Replay::setup()
case 400:
ins.init(AP_InertialSensor::WARM_START, AP_InertialSensor::RATE_400HZ);
break;
default:
printf("Invalid update rate (%d); use 50, 100, 200 or 400\n",update_rate);
exit(1);
}
plotf = fopen("plot.dat", "w");