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simulator udp port from command line

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This commit is contained in:
korotkoves
2016-04-04 23:06:09 +03:00
committed by Lorenz Meier
parent adfe946f72
commit 22e3ce7d7a
3 changed files with 16 additions and 9 deletions
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13
src/modules/simulator/simulator.cpp
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@@ -44,6 +44,7 @@
#include <systemlib/err.h>
#include <errno.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/types.h>
#include <drivers/drv_led.h>
@@ -124,21 +125,25 @@ void Simulator::write_airspeed_data(void *buf)
int Simulator::start(int argc, char *argv[])
{
int ret = 0;
int udp_port = 0;
_instance = new Simulator();
if (_instance) {
drv_led_start();
if (argc == 5 && strcmp(argv[3], "-u") == 0)
udp_port = atoi(argv[4]);
if (argv[2][1] == 's') {
_instance->initializeSensorData();
#ifndef __PX4_QURT
// Update sensor data
_instance->pollForMAVLinkMessages(false);
_instance->pollForMAVLinkMessages(false,udp_port);
#endif
} else if (argv[2][1] == 'p') {
// Update sensor data
_instance->pollForMAVLinkMessages(true);
_instance->pollForMAVLinkMessages(true,udp_port);
} else {
_instance->initializeSensorData();
@@ -155,7 +160,7 @@ int Simulator::start(int argc, char *argv[])
static void usage()
{
PX4_WARN("Usage: simulator {start -[spt] |stop}");
PX4_WARN("Usage: simulator {start -[spt] [-u udp_port] |stop}");
PX4_WARN("Simulate raw sensors: simulator start -s");
PX4_WARN("Publish sensors combined: simulator start -p");
PX4_WARN("Dummy unit test data: simulator start -t");
@@ -171,7 +176,7 @@ extern "C" {
{
int ret = 0;
if (argc == 3 && strcmp(argv[1], "start") == 0) {
if (argc > 2 && strcmp(argv[1], "start") == 0) {
if (strcmp(argv[2], "-s") == 0 ||
strcmp(argv[2], "-p") == 0 ||
strcmp(argv[2], "-t") == 0) {