microRTPS_client.h
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/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software without
* specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include "microRTPS_transport.h"
#include <inttypes.h>
#include <cstdio>
#include <ctime>
#include <pthread.h>
#include <termios.h>
#include <ucdr/microcdr.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/time.h>
#include <uORB/uORB.h>
#define LOOPS -1
#define SLEEP_MS 1
#define BAUDRATE 460800
#define DEVICE "/dev/ttyACM0"
#define POLL_MS 1
#define IP "127.0.0.1"
#define DEFAULT_RECV_PORT 2019
#define DEFAULT_SEND_PORT 2020
void *send(void *data);
void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64_t &received, int &loop);
struct baudtype {
speed_t code;
uint32_t val;
};
struct options {
enum class eTransports {
UART,
UDP
};
eTransports transport = options::eTransports::UART;
char device[64] = DEVICE;
char ip[16] = IP;
uint16_t recv_port = DEFAULT_RECV_PORT;
uint16_t send_port = DEFAULT_SEND_PORT;
uint32_t sleep_ms = SLEEP_MS;
uint32_t baudrate = BAUDRATE;
uint32_t poll_ms = POLL_MS;
int loops = LOOPS;
bool sw_flow_control = false;
bool hw_flow_control = false;
bool verbose_debug = false;
};
extern struct options _options;
extern bool _should_exit_task;
extern Transport_node *transport_node;