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HAL_Linux: Make use of GetOptLong

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Use GetOptLong to process long args, support
custom terrain and log directories and update
_usage().
This commit is contained in:
Víctor Mayoral Vilches 2015-06-28 21:04:08 +02:00 committed by Andrew Tridgell
parent 309511dc08
commit 5c4ae15deb
2 changed files with 38 additions and 6 deletions
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38
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -4,7 +4,7 @@
#include "HAL_Linux_Class.h" #include "HAL_Linux_Class.h"
#include "AP_HAL_Linux_Private.h" #include "AP_HAL_Linux_Private.h"
#include <getopt.h> #include <utility/getopt_cpp.h>
#include <stdio.h> #include <stdio.h>
#include <unistd.h> #include <unistd.h>
#include <stdlib.h> #include <stdlib.h>
@ -120,27 +120,53 @@ void _usage(void)
printf("\t-tcp: -C tcp:192.168.2.15:1243:wait\n"); printf("\t-tcp: -C tcp:192.168.2.15:1243:wait\n");
printf("\t -A tcp:11.0.0.2:5678\n"); printf("\t -A tcp:11.0.0.2:5678\n");
printf("\t -A udp:11.0.0.2:5678\n"); printf("\t -A udp:11.0.0.2:5678\n");
printf("\t-custom log path:\n");
printf("\t --log-directory /var/APM/logs\n");
printf("\t -l /var/APM/logs\n");
printf("\t-custom terrain path:\n");
printf("\t --terrain-directory /var/APM/terrain\n");
printf("\t -t /var/APM/terrain\n");
} }
void HAL_Linux::init(int argc,char* const argv[]) const void HAL_Linux::init(int argc,char* const argv[]) const
{ {
int opt; int opt;
const struct GetOptLong::option options[] = {
{"uartA", true, 0, 'A'},
{"uartB", true, 0, 'B'},
{"uartC", true, 0, 'C'},
{"uartE", true, 0, 'E'},
{"log-directory", true, 0, 'l'},
{"terrain-directory", true, 0, 't'},
{"help", false, 0, 'h'},
{0, false, 0, 0}
};
GetOptLong gopt(argc, argv, "A:B:C:E:l:t:h",
options);
/* /*
parse command line options parse command line options
*/ */
while ((opt = getopt(argc, argv, "A:B:C:E:h")) != -1) { while ((opt = gopt.getoption()) != -1) {
switch (opt) { switch (opt) {
case 'A': case 'A':
uartADriver.set_device_path(optarg); uartADriver.set_device_path(gopt.optarg);
break; break;
case 'B': case 'B':
uartBDriver.set_device_path(optarg); uartBDriver.set_device_path(gopt.optarg);
break; break;
case 'C': case 'C':
uartCDriver.set_device_path(optarg); uartCDriver.set_device_path(gopt.optarg);
break; break;
case 'E': case 'E':
uartEDriver.set_device_path(optarg); uartEDriver.set_device_path(gopt.optarg);
break;
case 'l':
custom_log_directory = gopt.optarg;
break;
case 't':
custom_terrain_directory = gopt.optarg;
break; break;
case 'h': case 'h':
_usage(); _usage();

6
libraries/AP_HAL_Linux/HAL_Linux_Class.h
View File

@ -10,6 +10,12 @@ class HAL_Linux : public AP_HAL::HAL {
public: public:
HAL_Linux(); HAL_Linux();
void init(int argc, char * const * argv) const; void init(int argc, char * const * argv) const;
const char* get_custom_log_directory() { return custom_log_directory; }
const char* get_custom_terrain_directory() { return custom_terrain_directory; }
private:
mutable const char* custom_log_directory = NULL;
mutable const char* custom_terrain_directory = NULL;
}; };
extern const HAL_Linux AP_HAL_Linux; extern const HAL_Linux AP_HAL_Linux;