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.
 *
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 * modification, are permitted provided that the following conditions are met:
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 * list of conditions and the following disclaimer.
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 * may be used to endorse or promote products derived from this software without
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#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 BUFFER_SIZE 1024
#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;
};

extern struct options _options;
extern bool _should_exit_task;
extern Transport_node *transport_node;