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microRTPS bridge: fix UART baudrate set

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This commit is contained in:
TSC21
2019-11-19 15:37:18 +00:00
committed by Nuno Marques
parent 1bef35d843
commit 16f663ad52
3 changed files with 13 additions and 74 deletions
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msg/templates/urtps/microRTPS_agent.cpp.em
+8 -35
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@@ -76,8 +76,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
// Default values
#define DEVICE "/dev/ttyACM0"
#define SLEEP_US 1
#define BAUDRATE B460800
#define BAUDRATE_VAL 460800
#define BAUDRATE 460800
#define POLL_MS 0
#define WAIT_CNST 2
#define DEFAULT_RECV_PORT 2020
@@ -92,23 +91,6 @@ Transport_node *transport_node = nullptr;
RtpsTopics topics;
uint32_t total_sent = 0, sent = 0;
struct baudtype {
speed_t code;
uint32_t val;
};
const baudtype baudlist[] = {
[0] = {.code = B0, .val = 0},
[1] = {.code = B9600, .val = 9600},
[2] = {.code = B19200, .val = 19200},
[3] = {.code = B38400, .val = 38400},
[4] = {.code = B57600, .val = 57600},
[5] = {.code = B115200, .val = 115200},
[6] = {.code = B230400, .val = 230400},
[7] = {.code = B460800, .val = 460800},
[8] = {.code = B921600, .val = 921600},
};
struct options {
enum class eTransports
{
@@ -118,7 +100,7 @@ struct options {
eTransports transport = options::eTransports::UART;
char device[64] = DEVICE;
int sleep_us = SLEEP_US;
baudtype baudrate = {.code=BAUDRATE,.val=BAUDRATE_VAL};
uint32_t baudrate = BAUDRATE;
int poll_ms = POLL_MS;
uint16_t recv_port = DEFAULT_RECV_PORT;
uint16_t send_port = DEFAULT_SEND_PORT;
@@ -139,15 +121,6 @@ static void usage(const char *name)
name);
}
baudtype getbaudrate(char *valstr)
{
uint32_t baudval = strtoul(valstr, nullptr, 10);
for (unsigned int i=1; i<sizeof(baudlist)/sizeof(baudtype); i++) {
if (baudlist[i].val==baudval) return baudlist[i];
}
return baudlist[0];
}
static int parse_options(int argc, char **argv)
{
int ch;
@@ -161,7 +134,7 @@ static int parse_options(int argc, char **argv)
:options::eTransports::UART; break;
case 'd': if (nullptr != optarg) strcpy(_options.device, optarg); break;
case 'w': _options.sleep_us = strtol(optarg, nullptr, 10); break;
case 'b': _options.baudrate = getbaudrate(optarg); 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;
@@ -191,13 +164,13 @@ void signal_handler(int signum)
@[if recv_topics]@
std::atomic<bool> exit_sender_thread(false);
std::condition_variable t_send_queue_cv;
std::mutex t_send_queue_mutex;
std::mutex t_send_queue_mutex;
std::queue<uint8_t> t_send_queue;
void t_send(void *data)
{
char data_buffer[BUFFER_SIZE] = {};
int length = 0;
int length = 0;
while (running && !exit_sender_thread.load())
{
@@ -209,7 +182,7 @@ void t_send(void *data)
uint8_t topic_ID = t_send_queue.front();
t_send_queue.pop();
lk.unlock();
uint16_t header_length = transport_node->get_header_length();
/* make room for the header to fill in later */
eprosima::fastcdr::FastBuffer cdrbuffer(&data_buffer[header_length], sizeof(data_buffer)-header_length);
@@ -242,9 +215,9 @@ int main(int argc, char** argv)
{
case options::eTransports::UART:
{
transport_node = new UART_node(_options.device, _options.baudrate.code, _options.poll_ms);
transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms);
printf("\nUART transport: device: %s; baudrate: %d; sleep: %dus; poll: %dms\n\n",
_options.device, _options.baudrate.val, _options.sleep_us, _options.poll_ms);
_options.device, _options.baudrate, _options.sleep_us, _options.poll_ms);
}
break;
case options::eTransports::UDP: