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Added wait_for_topic builtin command

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Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2017-01-05 13:11:31 -08:00
committed by Lorenz Meier
parent 830eb8528e
commit b9ba673009
1 changed files with 31 additions and 0 deletions
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31
src/platforms/apps.cpp.in
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@@ -19,6 +19,7 @@ int list_files_main(int argc, char *argv[]);
int list_devices_main(int argc, char *argv[]);
int list_topics_main(int argc, char *argv[]);
int sleep_main(int argc, char *argv[]);
int wait_for_topic(int argc, char *argv[]);
}
@@ -33,6 +34,7 @@ ${builtin_apps_string}
apps["list_devices"] = list_devices_main;
apps["list_topics"] = list_topics_main;
apps["sleep"] = sleep_main;
apps["wait_for_topic"] = wait_for_topic;
}
void list_builtins(apps_map_type &apps)
@@ -84,3 +86,32 @@ int sleep_main(int argc, char *argv[])
usleep(usecs);
return 0;
}
#include "uORB/uORB.h"
static int wait_for_topic(int argc, char *argv[])
{
if (argc < 2 || argc > 3) {
cout << "Usage: wait_for_topic <topic> [timeout_sec]" << endl;
return 1;
}
struct orb_metadata meta = { .o_name = argv[1],
.o_size = 0,
.o_size_no_padding = 0,
.o_fields = nullptr };
unsigned int timeout = (argc == 3) ? (unsigned int)atoi(argv[2]) : 0;
unsigned int elapsed = 0;
cout << "Waiting for topic " << argv[1] << " timeout " << timeout << endl;
while (orb_exists(&meta, 0) != 0 && (timeout && (elapsed < timeout)))
{
sleep(1);
elapsed += 1;
}
return 0;
}