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Send RTPS header and payload in one stream

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This avoids assembling the header and payload on the receiver side
This commit is contained in:
ritul jasuja 2018-01-24 19:18:54 +05:30 committed by Beat Küng
parent 2517d3854c
commit 13a3791c47
4 changed files with 24 additions and 15 deletions
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8
msg/templates/uorb_microcdr/microRTPS_client.cpp.template
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@ -79,6 +79,7 @@ void* send(void* /*unused*/)
uint64_t sent = 0, total_sent = 0;
int loop = 0, read = 0;
uint32_t length = 0;
uint16_t header_length = 0;
/* subscribe to topics */
int fds[@(len(send_topics))] = {};
@ -91,7 +92,8 @@ void* send(void* /*unused*/)
// microBuffer to serialized using the user defined buffer
struct microBuffer microBufferWriter;
initStaticAlignedBuffer(data_buffer, BUFFER_SIZE, &microBufferWriter);
header_length=transport_node->get_header_length();
initStaticAlignedBuffer(&data_buffer[header_length], BUFFER_SIZE-header_length, &microBufferWriter);
// microCDR structs for managing the microBuffer
struct microCDR microCDRWriter;
initMicroCDR(&microCDRWriter, &microBufferWriter);
@ -110,7 +112,9 @@ void* send(void* /*unused*/)
struct @(topic)_s data;
// copy raw data into local buffer
if (orb_copy(ORB_ID(@(topic)), fds[@(idx)], &data) == 0) {
serialize_@(topic)(&data, data_buffer, &length, &microCDRWriter);
/* payload is shifted by header length to make room for header*/
serialize_@(topic)(&data, &data_buffer[header_length], &length, &microCDRWriter);
if (0 < (read = transport_node->write((char)@(message_id(topic)), data_buffer, length)))
{
total_sent += read;