forked from Archive/PX4-Autopilot
microRTPS_transport: use preprocessor declarations to setup different build contexts for client and agent code
This commit is contained in:
TSC21
Lorenz Meier
parent
f0447e0009
commit
b3435dd1f5
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@ -36,10 +36,12 @@
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#include <errno.h>
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#include <sys/socket.h>
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#include <cstdlib>
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#if __has_include("px4_log.h") && __has_include("px4_time.h")
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#include <px4_log.h>
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#include <px4_time.h>
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#endif
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#include <microRTPS_transport.h>
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#include "microRTPS_transport.h"
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#define DEFAULT_UART "/dev/ttyACM0"
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@ -117,7 +119,11 @@ ssize_t Transport_node::read(uint8_t *topic_ID, char out_buffer[], size_t buffer
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int errsv = errno;
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if (errsv && EAGAIN != errsv && ETIMEDOUT != errsv) {
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#ifndef PX4_ERR
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printf("Read fail %d\n", errsv);
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#else
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PX4_ERR("Read fail %d", errsv);
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#endif /* PX4_ERR */
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}
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return len;
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@ -143,7 +149,12 @@ ssize_t Transport_node::read(uint8_t *topic_ID, char out_buffer[], size_t buffer
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// Start not found
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if (msg_start_pos > rx_buff_pos - header_size) {
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#ifndef PX4_INFO
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printf(" (↓↓ %u)", msg_start_pos);
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#else
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PX4_INFO(" (↓↓ %u)", msg_start_pos);
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#endif /* PX4_INFO */
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// All we've checked so far is garbage, drop it - but save unchecked bytes
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memmove(rx_buffer, rx_buffer + msg_start_pos, rx_buff_pos - msg_start_pos);
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rx_buff_pos = rx_buff_pos - msg_start_pos;
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@ -166,7 +177,11 @@ ssize_t Transport_node::read(uint8_t *topic_ID, char out_buffer[], size_t buffer
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if (msg_start_pos + header_size + payload_len > rx_buff_pos) {
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// If there's garbage at the beginning, drop it
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if (msg_start_pos > 0) {
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#ifndef PX4_INFO
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printf(" (↓ %u)", msg_start_pos);
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#else
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PX4_INFO(" (↓ %u)", msg_start_pos);
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#endif /* PX4_INFO */
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memmove(rx_buffer, rx_buffer + msg_start_pos, rx_buff_pos - msg_start_pos);
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rx_buff_pos -= msg_start_pos;
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}
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@ -178,8 +193,13 @@ ssize_t Transport_node::read(uint8_t *topic_ID, char out_buffer[], size_t buffer
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uint16_t calc_crc = crc16((uint8_t *)rx_buffer + msg_start_pos + header_size, payload_len);
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if (read_crc != calc_crc) {
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#ifndef PX4_ERR
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printf("Bad CRC %u != %u", read_crc, calc_crc);
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printf(" (↓ %lu)", (unsigned long)(header_size + payload_len));
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#else
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PX4_ERR("Bad CRC %u != %u", read_crc, calc_crc);
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PX4_ERR(" (↓ %lu)", (unsigned long)(header_size + payload_len));
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#endif /* PX4_ERR */
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len = -1;
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} else {
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@ -270,7 +290,11 @@ int UART_node::init()
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uart_fd = open(uart_name, O_RDWR | O_NOCTTY | O_NONBLOCK);
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if (uart_fd < 0) {
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#ifndef PX4_ERR
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printf("Failed to open device: %s (%d)", uart_name, errno);
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#else
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PX4_ERR("Failed to open device: %s (%d)", uart_name, errno);
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#endif /* PX4_ERR */
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return -errno;
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}
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@ -286,11 +310,14 @@ int UART_node::init()
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// Back up the original uart configuration to restore it after exit
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if ((termios_state = tcgetattr(uart_fd, &uart_config)) < 0) {
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int errno_bkp = errno;
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#ifndef PX4_ERR
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printf("ERR GET CONF %s: %d (%d)", uart_name, termios_state, errno);
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#else
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PX4_ERR("ERR GET CONF %s: %d (%d)", uart_name, termios_state, errno);
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#endif /* PX4_ERR */
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close();
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return -errno_bkp;
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}
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//Set up the UART for non-canonical binary communication: 8 bits, 1 stop bit, no parity,
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//no flow control, no modem control
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uart_config.c_iflag &= !(INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXANY | IXOFF);
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@ -310,15 +337,24 @@ int UART_node::init()
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speed_t speed;
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if (!baudrate_to_speed(baudrate, &speed)) {
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#ifndef PX4_ERR
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printf("ERR SET BAUD %s: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000, 921600, 1000000\n",
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uart_name, baudrate);
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#else
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PX4_ERR("ERR SET BAUD %s: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000, 921600, 1000000\n",
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uart_name, baudrate);
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uart_name, baudrate);
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#endif /* PX4_ERR */
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close();
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return -EINVAL;
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}
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if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
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int errno_bkp = errno;
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#ifndef PX4_ERR
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printf("ERR SET BAUD %s: %d (%d)", uart_name, termios_state, errno);
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#else
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PX4_ERR("ERR SET BAUD %s: %d (%d)", uart_name, termios_state, errno);
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#endif /* PX4_ERR */
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close();
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return -errno_bkp;
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}
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@ -326,7 +362,11 @@ int UART_node::init()
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if ((termios_state = tcsetattr(uart_fd, TCSANOW, &uart_config)) < 0) {
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int errno_bkp = errno;
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#ifndef PX4_ERR
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printf("ERR SET CONF %s (%d)", uart_name, errno);
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#else
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PX4_ERR("ERR SET CONF %s (%d)", uart_name, errno);
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#endif /* PX4_ERR */
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close();
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return -errno_bkp;
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}
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@ -335,16 +375,30 @@ int UART_node::init()
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bool flush = false;
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while (0 < ::read(uart_fd, (void *)&aux, 64)) {
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//PX4_INFO("%s ", aux);
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flush = true;
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/**
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* According to px4_time.h, px4_usleep() is only defined when lockstep is set
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* to be used
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*/
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#ifndef ENABLE_LOCKSTEP_SCHEDULER
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usleep(1000);
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#else
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px4_usleep(1000);
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#endif /* ENABLE_LOCKSTEP_SCHEDULER */
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}
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if (flush) {
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#ifndef PX4_INFO
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printf("Flush");
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#else
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PX4_INFO("Flush");
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#endif /* PX4_INFO */
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} else {
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#ifndef PX4_INFO
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printf("No flush");
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#else
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PX4_INFO("No flush");
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#endif /* PX4_INFO */
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}
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poll_fd[0].fd = uart_fd;
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@ -361,7 +415,11 @@ bool UART_node::fds_OK()
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uint8_t UART_node::close()
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{
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if (-1 != uart_fd) {
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#ifndef PX4_WARN
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printf("Closed UART...");
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#else
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PX4_WARN("Closed UART...");
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#endif /* PX4_WARN */
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::close(uart_fd);
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uart_fd = -1;
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memset(&poll_fd, 0, sizeof(poll_fd));
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@ -514,20 +572,33 @@ int UDP_node::init_receiver(uint16_t udp_port)
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receiver_inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
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if ((receiver_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
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#ifndef PX4_ERR
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printf("Create socket failed");
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#else
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PX4_ERR("Create socket failed");
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#endif /* PX4_ERR */
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return -1;
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}
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#ifndef PX4_INFO
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printf("Trying to connect...");
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#else
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PX4_INFO("Trying to connect...");
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#endif /* PX4_INFO */
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if (bind(receiver_fd, (struct sockaddr *)&receiver_inaddr, sizeof(receiver_inaddr)) < 0) {
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#ifndef PX4_ERR
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printf("Bind failed");
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#else
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PX4_ERR("Bind failed");
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#endif /* PX4_ERR */
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return -1;
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}
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#ifndef PX4_INFO
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printf("Connected to server!");
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#else
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PX4_INFO("Connected to server!");
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#endif /* PX4_INFO */
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#endif /* __PX4_NUTTX */
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return 0;
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}
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@ -536,7 +607,11 @@ int UDP_node::init_sender(uint16_t udp_port)
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#ifndef __PX4_NUTTX
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if ((sender_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
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#ifndef PX4_ERR
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printf("Create socket failed");
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#else
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PX4_ERR("Create socket failed");
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#endif /* PX4_ERR */
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return -1;
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}
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@ -545,7 +620,11 @@ int UDP_node::init_sender(uint16_t udp_port)
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sender_outaddr.sin_port = htons(udp_port);
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if (inet_aton("127.0.0.1", &sender_outaddr.sin_addr) == 0) {
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#ifndef PX4_ERR
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printf("inet_aton() failed");
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#else
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PX4_ERR("inet_aton() failed");
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#endif /* PX4_ERR */
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return -1;
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}
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@ -559,14 +638,22 @@ uint8_t UDP_node::close()
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#ifndef __PX4_NUTTX
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if (sender_fd != -1) {
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#ifndef PX4_WARN
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printf("Closed sender socket!");
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#else
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PX4_WARN("Closed sender socket!");
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#endif /* PX4_WARN */
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shutdown(sender_fd, SHUT_RDWR);
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::close(sender_fd);
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sender_fd = -1;
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}
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if (receiver_fd != -1) {
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#ifndef PX4_WARN
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printf("Closed receiver socket!");
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#else
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PX4_WARN("Closed receiver socket!");
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#endif /* PX4_WARN */
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shutdown(receiver_fd, SHUT_RDWR);
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::close(receiver_fd);
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receiver_fd = -1;
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