yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

microRTPS:Use inttypes

Browse Source
This commit is contained in:
David Sidrane
2021-04-28 14:59:21 -07:00
committed by Julian Oes
parent fd68fd2933
commit 026d36dee8
2 changed files with 9 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
msg/templates/urtps/microRTPS_transport.cpp
View File

@@ -150,9 +150,9 @@ ssize_t Transport_node::read(uint8_t *topic_ID, char out_buffer[], size_t buffer
// Start not found
if (msg_start_pos > (rx_buff_pos - header_size)) {
#ifndef PX4_DEBUG
if (debug) printf("\033[1;33m[ micrortps_transport ]\t (↓↓ %u)\033[0m\n", msg_start_pos);
if (debug) printf("\033[1;33m[ micrortps_transport ]\t (↓↓ %" PRIu32 ")\033[0m\n", msg_start_pos);
#else
if (debug) PX4_DEBUG(" (↓↓ %u)", msg_start_pos);
if (debug) PX4_DEBUG(" (↓↓ %" PRIu32 ")", msg_start_pos);
#endif /* PX4_DEBUG */
// All we've checked so far is garbage, drop it - but save unchecked bytes
@@ -178,9 +178,9 @@ ssize_t Transport_node::read(uint8_t *topic_ID, char out_buffer[], size_t buffer
// If there's garbage at the beginning, drop it
if (msg_start_pos > 0) {
#ifndef PX4_DEBUG
if (debug) printf("\033[1;33m[ micrortps_transport ]\t (↓ %u)\033[0m\n", msg_start_pos);
if (debug) printf("\033[1;33m[ micrortps_transport ]\t (↓ %" PRIu32 ")\033[0m\n", msg_start_pos);
#else
if (debug) PX4_DEBUG(" (↓ %u)", msg_start_pos);
if (debug) PX4_DEBUG(" (↓ %" PRIu32 ")", msg_start_pos);
#endif /* PX4_DEBUG */
memmove(rx_buffer, rx_buffer + msg_start_pos, rx_buff_pos - msg_start_pos);
rx_buff_pos -= msg_start_pos;
@@ -194,7 +194,7 @@ ssize_t Transport_node::read(uint8_t *topic_ID, char out_buffer[], size_t buffer
if (read_crc != calc_crc) {
#ifndef PX4_DEBUG
if (debug) printf("\033[0;31m[ micrortps_transport ]\tBad CRC %u != %u\t\t(↓ %lu)\033[0m\n", read_crc, calc_crc, (unsigned long)(header_size + payload_len));
if (debug) printf("\033[0;31m[ micrortps_transport ]\tBad CRC %" PRIu16 " != %" PRIu16 "\t\t(↓ %lu)\033[0m\n", read_crc, calc_crc, (unsigned long)(header_size + payload_len));
#else
if (debug) PX4_DEBUG("Bad CRC %u != %u\t\t(↓ %lu)", read_crc, calc_crc, (unsigned long)(header_size + payload_len));
#endif /* PX4_DEBUG */
@@ -339,7 +339,7 @@ int UART_node::init()
printf("\033[0;31m[ micrortps_transport ]\tUART transport: ERR SET BAUD %s: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000, 921600, 1000000\033[0m\n",
uart_name, baudrate);
#else
PX4_ERR("UART transport: ERR SET BAUD %s: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000, 921600, 1000000\n",
PX4_ERR("UART transport: ERR SET BAUD %s: Unsupported baudrate: %" PRIu32 "\n\tsupported examples:\n\t9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000, 921600, 1000000\n",
uart_name, baudrate);
#endif /* PX4_ERR */
close();

5
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
View File

@@ -151,7 +151,8 @@ static int micrortps_start(int argc, char *argv[])
case options::eTransports::UART: {
transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms,
_options.sw_flow_control, _options.hw_flow_control, _options.verbose_debug);
PX4_INFO("UART transport: device: %s; baudrate: %d; sleep: %dms; poll: %dms; flow_control: %s",
PX4_INFO("UART transport: device: %s; baudrate: %" PRIu32 "; sleep: %" PRIu32 "ms; poll: %" PRIu32
"ms; flow_control: %s",
_options.device, _options.baudrate, _options.sleep_ms, _options.poll_ms,
_options.sw_flow_control ? "SW enabled" : (_options.hw_flow_control ? "HW enabled" : "No"));
}
@@ -160,7 +161,7 @@ static int micrortps_start(int argc, char *argv[])
case options::eTransports::UDP: {
transport_node = new UDP_node(_options.ip, _options.recv_port, _options.send_port,
_options.verbose_debug);
PX4_INFO("UDP transport: ip address: %s; recv port: %u; send port: %u; sleep: %dms",
PX4_INFO("UDP transport: ip address: %s; recv port: %" PRIu16 "; send port: %" PRIu16 "; sleep: %" PRIu32 "ms",
_options.ip, _options.recv_port, _options.send_port, _options.sleep_ms);
}