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px4-firmware
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Fixed code format 

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2017-07-31 15:03:31 -07:00 committed by Lorenz Meier
parent 0f758fc50a
commit e933d4667f
3 changed files with 153 additions and 157 deletions
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29
src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
View File

@ -56,24 +56,23 @@
#define DEFAULT_RECV_PORT 2019
#define DEFAULT_SEND_PORT 2020
void* send(void *data);
void *send(void *data);
void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &received, int &loop);
struct options {
enum class eTransports
{
UART,
UDP
};
eTransports transport = options::eTransports::UART;
char device[64] = DEVICE;
int update_time_ms = UPDATE_TIME_MS;
int loops = LOOPS;
int sleep_ms = SLEEP_MS;
uint32_t baudrate = BAUDRATE;
int poll_ms = POLL_MS;
uint16_t recv_port = DEFAULT_RECV_PORT;
uint16_t send_port = DEFAULT_SEND_PORT;
enum class eTransports {
UART,
UDP
};
eTransports transport = options::eTransports::UART;
char device[64] = DEVICE;
int update_time_ms = UPDATE_TIME_MS;
int loops = LOOPS;
int sleep_ms = SLEEP_MS;
uint32_t baudrate = BAUDRATE;
int poll_ms = POLL_MS;
uint16_t recv_port = DEFAULT_RECV_PORT;
uint16_t send_port = DEFAULT_SEND_PORT;
};
extern struct options _options;

33
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_dummy.cpp
View File

@ -39,30 +39,27 @@ extern "C" __EXPORT int micrortps_client_main(int argc, char *argv[]);
static void usage(const char *name)
{
PX4_INFO("usage: %s start|stop\n\n", name);
PX4_INFO("usage: %s start|stop\n\n", name);
}
int micrortps_client_main(int argc, char *argv[])
{
if (argc < 2)
{
usage(argv[0]);
return -1;
}
if (argc < 2) {
usage(argv[0]);
return -1;
}
if (!strcmp(argv[1], "start"))
{
PX4_WARN("PX4 built without RTPS bridge support, EXITING...\n");
return -1;
}
if (!strcmp(argv[1], "start")) {
PX4_WARN("PX4 built without RTPS bridge support, EXITING...\n");
return -1;
}
if (!strcmp(argv[1], "stop"))
{
PX4_INFO("Not running");
return -1;
}
if (!strcmp(argv[1], "stop")) {
PX4_INFO("Not running");
return -1;
}
usage(argv[0]);
usage(argv[0]);
return -1;
return -1;
}

248
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
View File

@ -53,158 +53,158 @@ struct options _options;
static void usage(const char *name)
{
PX4_INFO("usage: %s start|stop [options]\n\n"
" -t <transport> [UART|UDP] Default UART\n"
" -d <device> UART device. Default /dev/ttyACM0\n"
" -u <update_time_ms> Time in ms for uORB subscribed topics update. Default 0\n"
" -l <loops> How many iterations will this program have. -1 for infinite. Default 10000\n"
" -w <sleep_time_ms> Time in ms for which each iteration sleep. Default 1ms\n"
" -b <baudrate> UART device baudrate. Default 460800\n"
" -p <poll_ms> Time in ms to poll over UART. Default 1ms\n"
" -r <reception port> UDP port for receiving. Default 2019\n"
" -s <sending port> UDP port for sending. Default 2020\n",
name);
PX4_INFO("usage: %s start|stop [options]\n\n"
" -t <transport> [UART|UDP] Default UART\n"
" -d <device> UART device. Default /dev/ttyACM0\n"
" -u <update_time_ms> Time in ms for uORB subscribed topics update. Default 0\n"
" -l <loops> How many iterations will this program have. -1 for infinite. Default 10000\n"
" -w <sleep_time_ms> Time in ms for which each iteration sleep. Default 1ms\n"
" -b <baudrate> UART device baudrate. Default 460800\n"
" -p <poll_ms> Time in ms to poll over UART. Default 1ms\n"
" -r <reception port> UDP port for receiving. Default 2019\n"
" -s <sending port> UDP port for sending. Default 2020\n",
name);
}
static int parse_options(int argc, char *argv[])
{
int ch;
int myoptind = 1;
const char *myoptarg = nullptr;
int ch;
int myoptind = 1;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "t:d:u:l:w:b:p:r:s:", &myoptind, &myoptarg)) != EOF)
{
switch (ch)
{
case 't': _options.transport = strcmp(myoptarg, "UDP") == 0?
options::eTransports::UDP
:options::eTransports::UART; break;
case 'd': if (nullptr != myoptarg) strcpy(_options.device, myoptarg); break;
case 'u': _options.update_time_ms = strtol(myoptarg, nullptr, 10); break;
case 'l': _options.loops = strtol(myoptarg, nullptr, 10); break;
case 'w': _options.sleep_ms = strtol(myoptarg, nullptr, 10); break;
case 'b': _options.baudrate = strtoul(optarg, nullptr, 10); break;
case 'p': _options.poll_ms = strtol(optarg, nullptr, 10); break;
case 'r': _options.recv_port = strtoul(optarg, nullptr, 10); break;
case 's': _options.send_port = strtoul(optarg, nullptr, 10); break;
default:
usage(argv[1]);
return -1;
}
}
while ((ch = px4_getopt(argc, argv, "t:d:u:l:w:b:p:r:s:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 't': _options.transport = strcmp(myoptarg, "UDP") == 0 ?
options::eTransports::UDP
: options::eTransports::UART; break;
return 0;
case 'd': if (nullptr != myoptarg) strcpy(_options.device, myoptarg); break;
case 'u': _options.update_time_ms = strtol(myoptarg, nullptr, 10); break;
case 'l': _options.loops = strtol(myoptarg, nullptr, 10); break;
case 'w': _options.sleep_ms = strtol(myoptarg, nullptr, 10); break;
case 'b': _options.baudrate = strtoul(optarg, nullptr, 10); break;
case 'p': _options.poll_ms = strtol(optarg, nullptr, 10); break;
case 'r': _options.recv_port = strtoul(optarg, nullptr, 10); break;
case 's': _options.send_port = strtoul(optarg, nullptr, 10); break;
default:
usage(argv[1]);
return -1;
}
}
return 0;
}
static int micrortps_start(int argc, char *argv[])
{
if (0 > parse_options(argc, argv))
{
printf("EXITING...\n");
_rtps_task = -1;
return -1;
}
if (0 > parse_options(argc, argv)) {
printf("EXITING...\n");
_rtps_task = -1;
return -1;
}
switch (_options.transport)
{
case options::eTransports::UART:
{
transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms);
printf("\nUART transport: device: %s; baudrate: %d; sleep: %dms; poll: %dms\n\n",
_options.device, _options.baudrate, _options.sleep_ms, _options.poll_ms);
}
break;
case options::eTransports::UDP:
{
transport_node = new UDP_node(_options.recv_port, _options.send_port);
printf("\nUDP transport: recv port: %u; send port: %u; sleep: %dms\n\n",
_options.recv_port, _options.send_port, _options.sleep_ms);
}
break;
default:
_rtps_task = -1;
printf("EXITING...\n");
return -1;
}
switch (_options.transport) {
case options::eTransports::UART: {
transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms);
printf("\nUART transport: device: %s; baudrate: %d; sleep: %dms; poll: %dms\n\n",
_options.device, _options.baudrate, _options.sleep_ms, _options.poll_ms);
}
break;
if (0 > transport_node->init())
{
printf("EXITING...\n");
_rtps_task = -1;
return -1;
}
case options::eTransports::UDP: {
transport_node = new UDP_node(_options.recv_port, _options.send_port);
printf("\nUDP transport: recv port: %u; send port: %u; sleep: %dms\n\n",
_options.recv_port, _options.send_port, _options.sleep_ms);
}
break;
sleep(1);
default:
_rtps_task = -1;
printf("EXITING...\n");
return -1;
}
struct timespec begin;
int total_read = 0;
uint32_t received = 0;
int loop = 0;
micrortps_start_topics(begin, total_read, received, loop);
if (0 > transport_node->init()) {
printf("EXITING...\n");
_rtps_task = -1;
return -1;
}
struct timespec end;
px4_clock_gettime(CLOCK_REALTIME, &end);
double elapsed_secs = double(end.tv_sec - begin.tv_sec) + double(end.tv_nsec - begin.tv_nsec)/double(1000000000);
printf("RECEIVED: %lu messages in %d LOOPS, %d bytes in %.03f seconds - %.02fKB/s\n\n",
(unsigned long)received, loop, total_read, elapsed_secs, (double)total_read/(1000*elapsed_secs));
sleep(1);
delete transport_node;
transport_node = nullptr;
PX4_INFO("exiting");
fflush(stdout);
struct timespec begin;
int total_read = 0;
uint32_t received = 0;
int loop = 0;
micrortps_start_topics(begin, total_read, received, loop);
_rtps_task = -1;
struct timespec end;
px4_clock_gettime(CLOCK_REALTIME, &end);
double elapsed_secs = double(end.tv_sec - begin.tv_sec) + double(end.tv_nsec - begin.tv_nsec) / double(1000000000);
printf("RECEIVED: %lu messages in %d LOOPS, %d bytes in %.03f seconds - %.02fKB/s\n\n",
(unsigned long)received, loop, total_read, elapsed_secs, (double)total_read / (1000 * elapsed_secs));
return 0;
delete transport_node;
transport_node = nullptr;
PX4_INFO("exiting");
fflush(stdout);
_rtps_task = -1;
return 0;
}
int micrortps_client_main(int argc, char *argv[])
{
if (argc < 2)
{
usage(argv[0]);
return -1;
}
if (argc < 2) {
usage(argv[0]);
return -1;
}
if (!strcmp(argv[1], "start"))
{
if (_rtps_task != -1)
{
PX4_INFO("Already running");
return -1;
}
if (!strcmp(argv[1], "start")) {
if (_rtps_task != -1) {
PX4_INFO("Already running");
return -1;
}
_rtps_task = px4_task_spawn_cmd("rtps",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
4096,
(px4_main_t) micrortps_start,
(char *const *)argv);
_rtps_task = px4_task_spawn_cmd("rtps",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
4096,
(px4_main_t) micrortps_start,
(char *const *)argv);
if (_rtps_task < 0)
{
PX4_WARN("Could not start task");
_rtps_task = -1;
return -1;
}
if (_rtps_task < 0) {
PX4_WARN("Could not start task");
_rtps_task = -1;
return -1;
}
return 0;
}
return 0;
}
if (!strcmp(argv[1], "stop"))
{
if (_rtps_task == -1)
{
PX4_INFO("Not running");
return -1;
}
if (!strcmp(argv[1], "stop")) {
if (_rtps_task == -1) {
PX4_INFO("Not running");
return -1;
}
_should_exit_task = true;
if (nullptr != transport_node) transport_node->close();
return 0;
}
_should_exit_task = true;
usage(argv[0]);
if (nullptr != transport_node) { transport_node->close(); }
return -1;
return 0;
}
usage(argv[0]);
return -1;
}