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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
+5 -32
View File
@@ -76,8 +76,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
// Default values // Default values
#define DEVICE "/dev/ttyACM0" #define DEVICE "/dev/ttyACM0"
#define SLEEP_US 1 #define SLEEP_US 1
#define BAUDRATE B460800 #define BAUDRATE 460800
#define BAUDRATE_VAL 460800
#define POLL_MS 0 #define POLL_MS 0
#define WAIT_CNST 2 #define WAIT_CNST 2
#define DEFAULT_RECV_PORT 2020 #define DEFAULT_RECV_PORT 2020
@@ -92,23 +91,6 @@ Transport_node *transport_node = nullptr;
RtpsTopics topics; RtpsTopics topics;
uint32_t total_sent = 0, sent = 0; 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 { struct options {
enum class eTransports enum class eTransports
{ {
@@ -118,7 +100,7 @@ struct options {
eTransports transport = options::eTransports::UART; eTransports transport = options::eTransports::UART;
char device[64] = DEVICE; char device[64] = DEVICE;
int sleep_us = SLEEP_US; int sleep_us = SLEEP_US;
baudtype baudrate = {.code=BAUDRATE,.val=BAUDRATE_VAL}; uint32_t baudrate = BAUDRATE;
int poll_ms = POLL_MS; int poll_ms = POLL_MS;
uint16_t recv_port = DEFAULT_RECV_PORT; uint16_t recv_port = DEFAULT_RECV_PORT;
uint16_t send_port = DEFAULT_SEND_PORT; uint16_t send_port = DEFAULT_SEND_PORT;
@@ -139,15 +121,6 @@ static void usage(const char *name)
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) static int parse_options(int argc, char **argv)
{ {
int ch; int ch;
@@ -161,7 +134,7 @@ static int parse_options(int argc, char **argv)
:options::eTransports::UART; break; :options::eTransports::UART; break;
case 'd': if (nullptr != optarg) strcpy(_options.device, optarg); break; case 'd': if (nullptr != optarg) strcpy(_options.device, optarg); break;
case 'w': _options.sleep_us = strtol(optarg, nullptr, 10); 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 'p': _options.poll_ms = strtol(optarg, nullptr, 10); break;
case 'r': _options.recv_port = strtoul(optarg, nullptr, 10); break; case 'r': _options.recv_port = strtoul(optarg, nullptr, 10); break;
case 's': _options.send_port = strtoul(optarg, nullptr, 10); break; case 's': _options.send_port = strtoul(optarg, nullptr, 10); break;
@@ -242,9 +215,9 @@ int main(int argc, char** argv)
{ {
case options::eTransports::UART: 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", 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; break;
case options::eTransports::UDP: case options::eTransports::UDP:
src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+2 -9
View File
@@ -52,14 +52,7 @@
#define UPDATE_TIME_MS 0 #define UPDATE_TIME_MS 0
#define LOOPS -1 #define LOOPS -1
#define SLEEP_MS 1 #define SLEEP_MS 1
#define BAUDRATE B460800 #define BAUDRATE 460800
#define BAUDRATE_VAL 460800
#ifndef B460800
#define B460800 460800
#endif
#ifndef B921600
#define B921600 921600
#endif
#define DEVICE "/dev/ttyACM0" #define DEVICE "/dev/ttyACM0"
#define POLL_MS 1 #define POLL_MS 1
#define IP "127.0.0.1" #define IP "127.0.0.1"
@@ -84,7 +77,7 @@ struct options {
int update_time_ms = UPDATE_TIME_MS; int update_time_ms = UPDATE_TIME_MS;
int loops = LOOPS; int loops = LOOPS;
int sleep_ms = SLEEP_MS; int sleep_ms = SLEEP_MS;
struct baudtype baudrate = {.code = BAUDRATE, .val = BAUDRATE_VAL}; uint32_t baudrate = BAUDRATE;
int poll_ms = POLL_MS; int poll_ms = POLL_MS;
char ip[16] = IP; char ip[16] = IP;
uint16_t recv_port = DEFAULT_RECV_PORT; uint16_t recv_port = DEFAULT_RECV_PORT;
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+3 -30
View File
@@ -54,20 +54,6 @@ bool _should_exit_task = false;
Transport_node *transport_node = nullptr; Transport_node *transport_node = nullptr;
struct options _options; struct options _options;
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}
};
baudtype getbaudrate(const char *valstr);
static void usage(const char *name) static void usage(const char *name)
{ {
PRINT_MODULE_USAGE_NAME("micrortps_client", "communication"); PRINT_MODULE_USAGE_NAME("micrortps_client", "communication");
@@ -90,19 +76,6 @@ static void usage(const char *name)
PRINT_MODULE_USAGE_COMMAND("status"); PRINT_MODULE_USAGE_COMMAND("status");
} }
baudtype getbaudrate(const char *valstr)
{
int baudval;
if (px4_get_parameter_value(valstr, baudval) == 0) {
for (unsigned int i = 1; i < sizeof(baudlist) / sizeof(baudtype); i++) {
if (baudlist[i].val == (unsigned)baudval) { return baudlist[i]; }
}
}
return baudlist[0];
}
static int parse_options(int argc, char *argv[]) static int parse_options(int argc, char *argv[])
{ {
int ch; int ch;
@@ -123,7 +96,7 @@ static int parse_options(int argc, char *argv[])
case 'w': _options.sleep_ms = strtol(myoptarg, nullptr, 10); break; case 'w': _options.sleep_ms = strtol(myoptarg, nullptr, 10); break;
case 'b': _options.baudrate = getbaudrate(myoptarg); break; case 'b': _options.baudrate = strtoul(myoptarg, nullptr, 10); break;
case 'p': _options.poll_ms = strtol(myoptarg, nullptr, 10); break; case 'p': _options.poll_ms = strtol(myoptarg, nullptr, 10); break;
@@ -162,9 +135,9 @@ static int micrortps_start(int argc, char *argv[])
switch (_options.transport) { switch (_options.transport) {
case options::eTransports::UART: { 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);
PX4_INFO("UART transport: device: %s; baudrate: %d; sleep: %dms; poll: %dms", PX4_INFO("UART transport: device: %s; baudrate: %d; sleep: %dms; poll: %dms",
_options.device, _options.baudrate.val, _options.sleep_ms, _options.poll_ms); _options.device, _options.baudrate, _options.sleep_ms, _options.poll_ms);
} }
break; break;