dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

microRTPS: client: add missing "-p" option for the UART poll timeout and use microsecs for the send/rcv thread sleeps

This commit is contained in:
TSC21 2021-05-07 10:15:38 +02:00 committed by Nuno Marques
parent 0cc79f3e48
commit ac2b38603c
3 changed files with 11 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
msg/templates/uorb_microcdr/microRTPS_client.cpp.em
View File

@ -176,7 +176,7 @@ void *send(void *args)
}
}
@[ end for]@
px4_usleep(_options.sleep_ms * 1000);
px4_usleep(_options.sleep_us);
++data->sent_loop;
}
@ -310,7 +310,7 @@ void micrortps_start_topics(struct timespec &begin, uint64_t &total_rcvd, uint64
// loop forever if informed loop number is negative
if (_options.loops >= 0 && rcvd_loop >= _options.loops) { break; }
px4_usleep(_options.sleep_ms * 1000);
px4_usleep(_options.sleep_us);
++rcvd_loop;
}

4
src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
View File

@ -50,7 +50,7 @@
#include <uORB/uORB.h>
#define LOOPS -1
#define SLEEP_MS 1
#define SLEEP_US 1
#define BAUDRATE 460800
#define DEVICE "/dev/ttyACM0"
#define POLL_MS 1
@ -81,7 +81,7 @@ struct options {
char ip[16] = IP;
uint16_t recv_port = DEFAULT_RECV_PORT;
uint16_t send_port = DEFAULT_SEND_PORT;
uint32_t sleep_ms = SLEEP_MS;
uint32_t sleep_us = SLEEP_US;
uint32_t baudrate = BAUDRATE;
uint32_t poll_ms = POLL_MS;
int loops = LOOPS;

12
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
View File

@ -78,7 +78,7 @@ static void usage(const char *name)
PRINT_MODULE_USAGE_PARAM_INT('p', -1, 1, 1000, "Poll timeout for UART in ms", true);
PRINT_MODULE_USAGE_PARAM_INT('l', 10000, -1, 100000, "Limit number of iterations until the program exits (-1=infinite)",
true);
PRINT_MODULE_USAGE_PARAM_INT('w', 1, 1, 1000, "Time in ms for which each iteration sleeps", true);
PRINT_MODULE_USAGE_PARAM_INT('w', 1, 1, 1000000, "Time in us for which each iteration sleeps", true);
PRINT_MODULE_USAGE_PARAM_INT('r', 2019, 0, 65536, "Select UDP Network Port for receiving (local)", true);
PRINT_MODULE_USAGE_PARAM_INT('s', 2020, 0, 65536, "Select UDP Network Port for sending (remote)", true);
PRINT_MODULE_USAGE_PARAM_STRING('i', "127.0.0.1", "<x.x.x.x>", "Select IP address (remote)", true);
@ -106,7 +106,7 @@ static int parse_options(int argc, char *argv[])
case 'l': _options.loops = strtol(myoptarg, nullptr, 10); break;
case 'w': _options.sleep_ms = strtoul(myoptarg, nullptr, 10); break;
case 'w': _options.sleep_us = strtoul(myoptarg, nullptr, 10); break;
case 'b': {
int baudrate = 0;
@ -120,6 +120,8 @@ static int parse_options(int argc, char *argv[])
break;
}
case 'p': _options.poll_ms = strtoul(myoptarg, nullptr, 10); break;
case 'r': _options.recv_port = strtoul(myoptarg, nullptr, 10); break;
case 's': _options.send_port = strtoul(myoptarg, nullptr, 10); break;
@ -165,7 +167,7 @@ static int micrortps_start(int argc, char *argv[])
_options.sw_flow_control, _options.hw_flow_control, _options.verbose_debug);
PX4_INFO("UART transport: device: %s; baudrate: %" PRIu32 "; sleep: %" PRIu32 "ms; poll: %" PRIu32
"ms; flow_control: %s",
_options.device, _options.baudrate, _options.sleep_ms, _options.poll_ms,
_options.device, _options.baudrate, _options.sleep_us, _options.poll_ms,
_options.sw_flow_control ? "SW enabled" : (_options.hw_flow_control ? "HW enabled" : "No"));
}
break;
@ -173,8 +175,8 @@ static int micrortps_start(int argc, char *argv[])
case options::eTransports::UDP: {
transport_node = new UDP_node(_options.ip, _options.recv_port, _options.send_port,
_options.verbose_debug);
PX4_INFO("UDP transport: ip address: %s; recv port: %" PRIu16 "; send port: %" PRIu16 "; sleep: %" PRIu32 "ms",
_options.ip, _options.recv_port, _options.send_port, _options.sleep_ms);
PX4_INFO("UDP transport: ip address: %s; recv port: %" PRIu16 "; send port: %" PRIu16 "; sleep: %" PRIu32 "us",
_options.ip, _options.recv_port, _options.send_port, _options.sleep_us);
}
break;