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SITL: fixed use of local printf() method in UART driver

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This commit is contained in:
Andrew Tridgell 2012-12-18 18:12:56 +11:00
parent 7be507948f
commit 472b45bc2a
2 changed files with 16 additions and 15 deletions
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22
libraries/AP_HAL_AVR_SITL/SITL_State.cpp
View File

@ -45,17 +45,17 @@ uint16_t SITL_State::pwm_input[8];
// catch floating point exceptions // catch floating point exceptions
void SITL_State::_sig_fpe(int signum) void SITL_State::_sig_fpe(int signum)
{ {
printf("ERROR: Floating point exception\n"); fprintf(stderr, "ERROR: Floating point exception\n");
exit(1); exit(1);
} }
void SITL_State::_usage(void) void SITL_State::_usage(void)
{ {
printf("Options:\n"); fprintf(stdout, "Options:\n");
printf("\t-w wipe eeprom and dataflash\n"); fprintf(stdout, "\t-w wipe eeprom and dataflash\n");
printf("\t-r RATE set SITL framerate\n"); fprintf(stdout, "\t-r RATE set SITL framerate\n");
printf("\t-H HEIGHT initial barometric height\n"); fprintf(stdout, "\t-H HEIGHT initial barometric height\n");
printf("\t-C use console instead of TCP ports\n"); fprintf(stdout, "\t-C use console instead of TCP ports\n");
} }
void SITL_State::_parse_command_line(int argc, char * const argv[]) void SITL_State::_parse_command_line(int argc, char * const argv[])
@ -85,7 +85,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
} }
} }
printf("Starting sketch '%s'\n", SKETCH); fprintf(stdout, "Starting sketch '%s'\n", SKETCH);
if (strcmp(SKETCH, "ArduCopter") == 0) { if (strcmp(SKETCH, "ArduCopter") == 0) {
_vehicle = ArduCopter; _vehicle = ArduCopter;
@ -124,7 +124,7 @@ void SITL_State::_sitl_setup(void)
_setup_timer(); _setup_timer();
_setup_fdm(); _setup_fdm();
printf("Starting SITL input\n"); fprintf(stdout, "Starting SITL input\n");
// find the barometer object if it exists // find the barometer object if it exists
_sitl = (SITL *)AP_Param::find_object("SIM_"); _sitl = (SITL *)AP_Param::find_object("SIM_");
@ -205,7 +205,7 @@ void SITL_State::_timer_handler(int signum)
count++; count++;
if (millis() - last_report > 1000) { if (millis() - last_report > 1000) {
printf("TH %u cps\n", count); fprintf(stdout, "TH %u cps\n", count);
count = 0; count = 0;
last_report = millis(); last_report = millis();
} }
@ -275,7 +275,7 @@ void SITL_State::_fdm_input(void)
static uint32_t count; static uint32_t count;
if (d.fg_pkt.magic != 0x4c56414e) { if (d.fg_pkt.magic != 0x4c56414e) {
printf("Bad FDM packet - magic=0x%08x\n", d.fg_pkt.magic); fprintf(stdout, "Bad FDM packet - magic=0x%08x\n", d.fg_pkt.magic);
return; return;
} }
@ -291,7 +291,7 @@ void SITL_State::_fdm_input(void)
count++; count++;
if (hal.scheduler->millis() - last_report > 1000) { if (hal.scheduler->millis() - last_report > 1000) {
//printf("SIM %u FPS\n", count); //fprintf(stdout, "SIM %u FPS\n", count);
count = 0; count = 0;
last_report = hal.scheduler->millis(); last_report = hal.scheduler->millis();
} }

9
libraries/AP_HAL_AVR_SITL/UARTDriver.cpp
View File

@ -243,7 +243,7 @@ void SITLUARTDriver::_tcp_start_connection(bool wait_for_connection)
(unsigned)ntohs(sockaddr.sin_port), (unsigned)ntohs(sockaddr.sin_port),
(unsigned)_portNumber), (unsigned)_portNumber),
ret = bind(_listen_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)); ret = bind(_listen_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
if (ret == -1) { if (ret == -1) {
fprintf(stderr, "bind failed on port %u - %s\n", fprintf(stderr, "bind failed on port %u - %s\n",
(unsigned)ntohs(sockaddr.sin_port), (unsigned)ntohs(sockaddr.sin_port),
@ -257,12 +257,13 @@ void SITLUARTDriver::_tcp_start_connection(bool wait_for_connection)
exit(1); exit(1);
} }
printf("Serial port %u on TCP port %u\n", _portNumber, LISTEN_BASE_PORT + _portNumber); fprintf(stderr, "Serial port %u on TCP port %u\n", _portNumber, LISTEN_BASE_PORT + _portNumber);
fflush(stdout); fflush(stdout);
} }
if (wait_for_connection) { if (wait_for_connection) {
printf("Waiting for connection ....\n"); fprintf(stdout, "Waiting for connection ....\n");
fflush(stdout);
_fd = accept(_listen_fd, NULL, NULL); _fd = accept(_listen_fd, NULL, NULL);
if (_fd == -1) { if (_fd == -1) {
fprintf(stderr, "accept() error - %s", strerror(errno)); fprintf(stderr, "accept() error - %s", strerror(errno));
@ -291,7 +292,7 @@ void SITLUARTDriver::_check_connection(void)
_connected = true; _connected = true;
setsockopt(_fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one)); setsockopt(_fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
setsockopt(_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one)); setsockopt(_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
printf("New connection on serial port %u\n", _portNumber); fprintf(stdout, "New connection on serial port %u\n", _portNumber);
_set_nonblocking(_fd); _set_nonblocking(_fd);
} }
} }