Diff: libuavcan_drivers/linux/apps/test_file_server.cpp

Revision:

0:dfe6edabb8ec

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libuavcan_drivers/linux/apps/test_file_server.cpp	Sat Apr 14 10:25:32 2018 +0000
@@ -0,0 +1,149 @@
+/*
+ * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <iostream>
+#include <string>
+#include <cstdlib>
+#include <cstdio>
+#include <sys/types.h>
+#include <unistd.h>
+#include "debug.hpp"
+// UAVCAN
+#include <uavcan/protocol/file_server.hpp>
+// UAVCAN Linux drivers
+#include <uavcan_linux/uavcan_linux.hpp>
+// UAVCAN POSIX drivers
+#include <uavcan_posix/basic_file_server_backend.hpp>
+#include <uavcan_posix/firmware_version_checker.hpp>  // Compilability test
+
+namespace
+{
+
+uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid, const std::string& name)
+{
+    auto node = uavcan_linux::makeNode(ifaces);
+
+    node->setNodeID(nid);
+    node->setName(name.c_str());
+    node->getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
+
+    {
+        const auto app_id = uavcan_linux::makeApplicationID(uavcan_linux::MachineIDReader().read(), name, nid.get());
+
+        uavcan::protocol::HardwareVersion hwver;
+        std::copy(app_id.begin(), app_id.end(), hwver.unique_id.begin());
+        std::cout << hwver << std::endl;
+
+        node->setHardwareVersion(hwver);
+    }
+
+    const int start_res = node->start();
+    ENFORCE(0 == start_res);
+
+    node->setModeOperational();
+
+    return node;
+}
+
+void runForever(const uavcan_linux::NodePtr& node)
+{
+    uavcan_posix::BasicFileServerBackend backend(*node);
+
+    uavcan::FileServer server(*node, backend);
+
+    const int server_init_res = server.start();
+    if (server_init_res < 0)
+    {
+        throw std::runtime_error("Failed to start the server; error " + std::to_string(server_init_res));
+    }
+
+    while (true)
+    {
+        const int res = node->spin(uavcan::MonotonicDuration::fromMSec(100));
+        if (res < 0)
+        {
+            std::cerr << "Spin error: " << res << std::endl;
+        }
+    }
+}
+
+struct Options
+{
+    uavcan::NodeID node_id;
+    std::vector<std::string> ifaces;
+};
+
+Options parseOptions(int argc, const char** argv)
+{
+    const char* const executable_name = *argv++;
+    argc--;
+
+    const auto enforce = [executable_name](bool condition, const char* error_text) {
+        if (!condition)
+        {
+            std::cerr << error_text << "\n"
+                      << "Usage:\n\t"
+                      << executable_name
+                      << " <node-id> <can-iface-name-1> [can-iface-name-N...]"
+                      << std::endl;
+            std::exit(1);
+        }
+    };
+
+    enforce(argc >= 2, "Not enough arguments");
+
+    /*
+     * Node ID is always at the first position
+     */
+    argc--;
+    const int node_id = std::stoi(*argv++);
+    enforce(node_id >= 1 && node_id <= 127, "Invalid node ID");
+
+    Options out;
+    out.node_id = uavcan::NodeID(std::uint8_t(node_id));
+
+    while (argc --> 0)
+    {
+        const std::string token(*argv++);
+
+        if (token[0] != '-')
+        {
+            out.ifaces.push_back(token);
+        }
+        else
+        {
+            enforce(false, "Unexpected argument");
+        }
+    }
+
+    return out;
+}
+
+}
+
+int main(int argc, const char** argv)
+{
+    try
+    {
+        auto options = parseOptions(argc, argv);
+
+        std::cout << "Self node ID: " << int(options.node_id.get()) << "\n"
+                     "Num ifaces:   " << options.ifaces.size() << "\n"
+#ifdef NDEBUG
+                     "Build mode:   Release"
+#else
+                     "Build mode:   Debug"
+#endif
+                     << std::endl;
+
+        auto node = initNode(options.ifaces, options.node_id, "org.uavcan.linux_test_file_server");
+        runForever(node);
+        return 0;
+    }
+    catch (const std::exception& ex)
+    {
+        std::cerr << "Error: " << ex.what() << std::endl;
+        return 1;
+    }
+}