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microdds_client: Mark parameter as used only if truly used 

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
This commit is contained in:
Beniamino Pozzan 2023-03-08 16:24:57 -08:00 committed by Ramon Roche
parent c7f67a3328
commit 51dd6b783c
1 changed files with 31 additions and 22 deletions
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53
src/modules/microdds_client/microdds_client.cpp
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@ -578,29 +578,11 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
int ch;
const char *myoptarg = nullptr;
char port[PORT_MAX_LENGTH];
char agent_ip[AGENT_IP_MAX_LENGTH];
char port[PORT_MAX_LENGTH] = {0};
char agent_ip[AGENT_IP_MAX_LENGTH] = {0};
#if defined(MICRODDS_CLIENT_UDP)
Transport transport = Transport::Udp;
int32_t port_i = 0;
param_get(param_find("XRCE_DDS_PRT"), &port_i);
if (port_i < 0 || port_i > 65535) {
PX4_ERR("port must be between 0 and 65535");
return nullptr;
}
snprintf(port, PORT_MAX_LENGTH, "%u", (uint16_t)port_i);
int32_t ip_i = 0;
param_get(param_find("XRCE_DDS_AG_IP"), &ip_i);
snprintf(agent_ip, AGENT_IP_MAX_LENGTH, "%u.%u.%u.%u", static_cast<uint8_t>(((ip_i) >> 24) & 0xff),
static_cast<uint8_t>(((ip_i) >> 16) & 0xff),
static_cast<uint8_t>(((ip_i) >> 8) & 0xff),
static_cast<uint8_t>(ip_i & 0xff));
#else
Transport transport = Transport::Serial;
#endif
@ -674,6 +656,33 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
}
}
#if defined(MICRODDS_CLIENT_UDP)
if (port[0] == '\0') {
// no port specified, use XRCE_DDS_PRT
int32_t port_i = 0;
param_get(param_find("XRCE_DDS_PRT"), &port_i);
if (port_i < 0 || port_i > 65535) {
PX4_ERR("port must be between 0 and 65535");
return nullptr;
}
snprintf(port, PORT_MAX_LENGTH, "%u", (uint16_t)port_i);
}
if (agent_ip[0] == '\0') {
// no agent ip specified, use XRCE_DDS_AG_IP
int32_t ip_i = 0;
param_get(param_find("XRCE_DDS_AG_IP"), &ip_i);
snprintf(agent_ip, AGENT_IP_MAX_LENGTH, "%u.%u.%u.%u", static_cast<uint8_t>(((ip_i) >> 24) & 0xff),
static_cast<uint8_t>(((ip_i) >> 16) & 0xff),
static_cast<uint8_t>(((ip_i) >> 8) & 0xff),
static_cast<uint8_t>(ip_i & 0xff));
}
#endif // MICRODDS_CLIENT_UDP
if (error_flag) {
return nullptr;
}
@ -710,8 +719,8 @@ $ microdds_client start -t udp -h 127.0.0.1 -p 15555
PRINT_MODULE_USAGE_PARAM_STRING('t', "udp", "serial|udp", "Transport protocol", true);
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "serial device", true);
PRINT_MODULE_USAGE_PARAM_INT('b', 0, 0, 3000000, "Baudrate (can also be p:<param_name>)", true);
PRINT_MODULE_USAGE_PARAM_STRING('h', "nullptr", "<IP>", "Agent IP", true);
PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 65535, "Agent listening port", true);
PRINT_MODULE_USAGE_PARAM_STRING('h', nullptr, "<IP>", "Agent IP. If not provided, defaults to XRCE_DDS_AG_IP", true);
PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 65535, "Agent listening port. If not provided, defaults to XRCE_DDS_PRT", true);
PRINT_MODULE_USAGE_PARAM_FLAG('l', "Restrict to localhost (use in combination with ROS_LOCALHOST_ONLY=1)", true);
PRINT_MODULE_USAGE_PARAM_FLAG('c', "Use custom participant config (profile_name=\"px4_participant\")", true);
PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, nullptr, "Client DDS namespace", true);