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generate_listener.py: add a timeout of 2 seconds 

abort if within 2s there is no new message published
This commit is contained in:
Beat Küng 2016-04-15 15:02:26 +02:00
parent 1269dfbc43
commit 9259406a29
1 changed files with 15 additions and 0 deletions
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15
Tools/generate_listener.py
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@ -106,6 +106,7 @@ print("""
* Tool for listening to topics when running flight stack on linux. * Tool for listening to topics when running flight stack on linux.
*/ */
#include <drivers/drv_hrt.h>
#include <px4_middleware.h> #include <px4_middleware.h>
#include <px4_app.h> #include <px4_app.h>
#include <px4_config.h> #include <px4_config.h>
@ -125,6 +126,14 @@ print("""
#define PRId64 "lld" #define PRId64 "lld"
#endif #endif
static bool check_timeout(const hrt_abstime& time) {
if (hrt_elapsed_time(&time) > 2*1000*1000) {
printf("Waited for 2 seconds without a message. Giving up.\\n");
return true;
}
return false;
}
""") """)
for m in messages: for m in messages:
print("#include <uORB/topics/%s.h>" % m) print("#include <uORB/topics/%s.h>" % m)
@ -155,10 +164,12 @@ for index,m in enumerate(messages[1:]):
print("\t\tmemset(&container, 0, sizeof(container));") print("\t\tmemset(&container, 0, sizeof(container));")
print("\t\tbool updated;") print("\t\tbool updated;")
print("\t\tunsigned i = 0;") print("\t\tunsigned i = 0;")
print("\t\thrt_abstime start_time = hrt_absolute_time();")
print("\t\twhile(i < num_msgs) {") print("\t\twhile(i < num_msgs) {")
print("\t\t\torb_check(sub,&updated);") print("\t\t\torb_check(sub,&updated);")
print("\t\t\tif (i == 0) { updated = true; } else { usleep(500); }") print("\t\t\tif (i == 0) { updated = true; } else { usleep(500); }")
print("\t\t\tif (updated) {") print("\t\t\tif (updated) {")
print("\t\t\tstart_time = hrt_absolute_time();")
print("\t\t\ti++;") print("\t\t\ti++;")
print("\t\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m) print("\t\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m)
print("\t\t\torb_copy(ID,sub,&container);") print("\t\t\torb_copy(ID,sub,&container);")
@ -203,6 +214,10 @@ for index,m in enumerate(messages[1:]):
print("\t\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1])) print("\t\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
elif item[0] == "bool": elif item[0] == "bool":
print("\t\t\tprintf(\"%s: %%s\\n\",container.%s ? \"True\" : \"False\");" % (item[1], item[1])) print("\t\t\tprintf(\"%s: %%s\\n\",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
print("\t\t\t} else {")
print("\t\t\t\tif (check_timeout(start_time)) {")
print("\t\t\t\t\tbreak;")
print("\t\t\t\t}")
print("\t\t\t}") print("\t\t\t}")
print("\t\t}") print("\t\t}")
print("\t} else {") print("\t} else {")