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microdds_client: fix -l flag and add -c for custom participant configuration

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Allows to use a custom FastDDS configuration on the Agent side.
This commit is contained in:
Beat Küng 2023-02-06 08:27:46 +01:00 committed by Daniel Agar
parent 98263de17b
commit 06dfd1726f
2 changed files with 23 additions and 7 deletions
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27
src/modules/microdds_client/microdds_client.cpp
View File

@ -80,9 +80,9 @@ void on_time(uxrSession *session, int64_t current_time, int64_t received_timesta
}
MicroddsClient::MicroddsClient(Transport transport, const char *device, int baudrate, const char *host,
const char *port, bool localhost_only, const char *client_namespace) :
const char *port, bool localhost_only, bool custom_participant, const char *client_namespace) :
ModuleParams(nullptr),
_localhost_only(localhost_only),
_localhost_only(localhost_only), _custom_participant(custom_participant),
_client_namespace(client_namespace)
{
if (transport == Transport::Serial) {
@ -270,8 +270,17 @@ void MicroddsClient::run()
return;
}
uint16_t participant_req = uxr_buffer_create_participant_xml(&session, reliable_out, participant_id, domain_id,
participant_xml, UXR_REPLACE);
uint16_t participant_req{};
if (_custom_participant) {
participant_req = uxr_buffer_create_participant_ref(&session, reliable_out, participant_id, domain_id,
"px4_participant", UXR_REPLACE);
} else {
participant_req = uxr_buffer_create_participant_xml(&session, reliable_out, participant_id, domain_id,
participant_xml, UXR_REPLACE);
}
uint8_t request_status;
@ -560,11 +569,12 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
const char *port = "8888";
bool localhost_only = false;
bool custom_participant = false;
const char *ip = "127.0.0.1";
const char *client_namespace = nullptr;//"px4";
while ((ch = px4_getopt(argc, argv, "t:d:b:h:p:l:n:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "t:d:b:h:p:lcn:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 't':
if (!strcmp(myoptarg, "serial")) {
@ -605,6 +615,10 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
case 'l':
localhost_only = true;
break;
case 'c':
custom_participant = true;
break;
#endif // MICRODDS_CLIENT_UDP
case 'n':
@ -633,7 +647,7 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
}
}
return new MicroddsClient(transport, device, baudrate, ip, port, localhost_only, client_namespace);
return new MicroddsClient(transport, device, baudrate, ip, port, localhost_only, custom_participant, client_namespace);
}
int MicroddsClient::print_usage(const char *reason)
@ -660,6 +674,7 @@ $ microdds_client start -t udp -h 127.0.0.1 -p 15555
PRINT_MODULE_USAGE_PARAM_STRING('h', "127.0.0.1", "<IP>", "Host IP", true);
PRINT_MODULE_USAGE_PARAM_INT('p', 8888, 0, 65535, "Remote Port", true);
PRINT_MODULE_USAGE_PARAM_FLAG('l', "Restrict to localhost (use in combination with ROS_LOCALHOST_ONLY=1)", true);
PRINT_MODULE_USAGE_PARAM_FLAG('c', "Use custom participant config (profile_name=\"px4_participant\")", true);
PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, nullptr, "Client DDS namespace", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();

3
src/modules/microdds_client/microdds_client.h
View File

@ -49,7 +49,7 @@ public:
};
MicroddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port,
bool localhost_only, const char *client_namespace);
bool localhost_only, bool custom_participant, const char *client_namespace);
~MicroddsClient();
@ -75,6 +75,7 @@ private:
int setBaudrate(int fd, unsigned baud);
const bool _localhost_only;
const bool _custom_participant;
const char *_client_namespace;
SendTopicsSubs *_subs{nullptr};