yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

New UAVCAN initialization logic

Browse Source
This commit is contained in:
Pavel Kirienko
2014-08-23 17:23:59 +04:00
parent 7132141cc4
commit 6a8971e28f
5 changed files with 114 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files

50
src/modules/uavcan/uavcan_main.cpp
View File

@@ -38,6 +38,7 @@
#include <fcntl.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/mixer/mixer.h>
#include <systemlib/board_serial.h>
#include <version/version.h>
@@ -587,7 +588,7 @@ void UavcanNode::sensor_print_enabled()
static void print_usage()
{
warnx("usage: \n"
"\tuavcan start <node_id> [can_bitrate]\n"
"\tuavcan start\n"
"\tuavcan sensor enable <sensor name>\n"
"\tuavcan sensor list");
@@ -599,52 +600,32 @@ extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);
int uavcan_main(int argc, char *argv[])
{
constexpr unsigned DEFAULT_CAN_BITRATE = 1000000;
if (argc < 2) {
print_usage();
::exit(1);
}
if (!std::strcmp(argv[1], "start")) {
if (argc < 3) {
print_usage();
::exit(1);
if (UavcanNode::instance()) {
errx(1, "already started");
}
/*
* Node ID
*/
const int node_id = atoi(argv[2]);
// Node ID
int32_t node_id = 0;
(void)param_get(param_find("UAVCAN_NODE_ID"), &node_id);
if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
warnx("Invalid Node ID %i", node_id);
::exit(1);
}
/*
* CAN bitrate
*/
unsigned bitrate = 0;
// CAN bitrate
int32_t bitrate = 0;
(void)param_get(param_find("UAVCAN_BITRATE"), &bitrate);
if (argc > 3) {
bitrate = atol(argv[3]);
}
if (bitrate <= 0) {
bitrate = DEFAULT_CAN_BITRATE;
}
if (UavcanNode::instance()) {
errx(1, "already started");
}
/*
* Start
*/
// Start
warnx("Node ID %u, bitrate %u", node_id, bitrate);
return UavcanNode::start(node_id, bitrate);
}
/* commands below require the app to be started */
@@ -655,14 +636,13 @@ int uavcan_main(int argc, char *argv[])
}
if (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info")) {
inst->print_info();
::exit(0);
inst->print_info();
::exit(0);
}
if (!std::strcmp(argv[1], "stop")) {
delete inst;
::exit(0);
delete inst;
::exit(0);
}
if (!std::strcmp(argv[1], "sensor")) {