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micrortps_client_main: use new module documentation & check param range

This commit is contained in:
Beat Küng 2017-08-02 10:37:23 +02:00 committed by Lorenz Meier
parent e7d19f0a1a
commit de8e0b54b6
1 changed files with 28 additions and 11 deletions
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39
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
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@ -43,6 +43,7 @@
#include <px4_posix.h> #include <px4_posix.h>
#include <px4_tasks.h> #include <px4_tasks.h>
#include <px4_time.h> #include <px4_time.h>
#include <px4_module.h>
extern "C" __EXPORT int micrortps_client_main(int argc, char *argv[]); extern "C" __EXPORT int micrortps_client_main(int argc, char *argv[]);
@ -53,17 +54,23 @@ struct options _options;
static void usage(const char *name) static void usage(const char *name)
{ {
PX4_INFO("usage: %s start|stop [options]\n\n" PRINT_MODULE_USAGE_NAME("micrortps_client", "communication");
" -t <transport> [UART|UDP] Default UART\n" PRINT_MODULE_USAGE_COMMAND("start");
" -d <device> UART device. Default /dev/ttyACM0\n"
" -u <update_time_ms> Time in ms for uORB subscribed topics update. Default 0\n" PRINT_MODULE_USAGE_PARAM_STRING('t', "UART", "UART|UDP", "Transport protocol", true);
" -l <loops> How many iterations will this program have. -1 for infinite. Default 10000\n" PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyACM0", "<file:dev>", "Select Serial Device", true);
" -w <sleep_time_ms> Time in ms for which each iteration sleep. Default 1ms\n" PRINT_MODULE_USAGE_PARAM_INT('b', 460800, 9600, 3000000, "Baudrate", true);
" -b <baudrate> UART device baudrate. Default 460800\n" PRINT_MODULE_USAGE_PARAM_INT('p', 1, 1, 1000, "Poll timeout for UART in ms", true);
" -p <poll_ms> Time in ms to poll over UART. Default 1ms\n" PRINT_MODULE_USAGE_PARAM_INT('u', 0, 0, 10000,
" -r <reception port> UDP port for receiving. Default 2019\n" "Interval in ms to limit the update rate of all sent topics (0=unlimited)", true);
" -s <sending port> UDP port for sending. Default 2020\n", PRINT_MODULE_USAGE_PARAM_INT('l', 10000, -1, 100000, "Limit number of iterations until the program exits (-1=infinite)",
name); true);
PRINT_MODULE_USAGE_PARAM_INT('w', 1, 1, 1000, "Time in ms 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_COMMAND("stop");
PRINT_MODULE_USAGE_COMMAND("status");
} }
static int parse_options(int argc, char *argv[]) static int parse_options(int argc, char *argv[])
@ -100,6 +107,16 @@ static int parse_options(int argc, char *argv[])
} }
} }
if (_options.sleep_ms < 1) {
_options.sleep_ms = 1;
PX4_ERR("sleep time too low, using 1 ms");
}
if (_options.poll_ms < 1) {
_options.poll_ms = 1;
PX4_ERR("poll timeout too low, using 1 ms");
}
return 0; return 0;
} }