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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
2018-02-14 12:04:35 +01:00
committed by Beat Küng
parent 2517d3854c
commit 13a3791c47
4 changed files with 24 additions and 15 deletions
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msg/templates/urtps/microRTPS_transport.cpp
+12 -11
View File
@@ -35,6 +35,7 @@
#include <stdio.h>
#include <errno.h>
#include <sys/socket.h>
#include <cstdlib>
#include "microRTPS_transport.h"
@@ -193,6 +194,11 @@ ssize_t Transport_node::read(uint8_t *topic_ID, char out_buffer[], size_t buffer
return len;
}
ssize_t Transport_node::get_header_length()
{
return sizeof(struct Header);
}
ssize_t Transport_node::write(const uint8_t topic_ID, char buffer[], size_t length)
{
if (!fds_OK()) {
@@ -214,7 +220,7 @@ ssize_t Transport_node::write(const uint8_t topic_ID, char buffer[], size_t leng
// [>,>,>,topic_ID,seq,payload_length,CRCHigh,CRCLow,payload_start, ... ,payload_end]
uint16_t crc = crc16((uint8_t *)buffer, length);
uint16_t crc = crc16((uint8_t *)&buffer[sizeof(header)], length);
header.topic_ID = topic_ID;
header.seq = seq++;
@@ -223,18 +229,13 @@ ssize_t Transport_node::write(const uint8_t topic_ID, char buffer[], size_t leng
header.crc_h = (crc >> 8) & 0xff;
header.crc_l = crc & 0xff;
ssize_t len = node_write(&header, sizeof(header));
if (len != sizeof(header)) {
/* Headroom for header is created in client */
/*Fill in the header in the same payload buffer to call a single node_write */
memcpy(buffer, &header, sizeof(header));
ssize_t len = node_write(buffer, length + sizeof(header));
if (len != ssize_t(length + sizeof(header))) {
goto err;
}
len = node_write(buffer, length);
if (len != ssize_t(length)) {
goto err;
}
return len + sizeof(header);
err: