fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-03 19:01:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

uorb: add message format compatibility check

Browse Source 
This can be used by DDS/ROS 2 to check for matching message definitions.
This commit is contained in:
Beat Küng
2023-11-15 13:18:58 +01:00
parent 0dcecf0666
commit 22acb08406
9 changed files with 162 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uxrce_dds_client/uxrce_dds_client.h
+9
View File
@@ -38,6 +38,10 @@
#include <src/modules/uxrce_dds_client/dds_topics.h>
#include <uORB/topics/message_format_request.h>
#include <uORB/topics/message_format_response.h>
#include <uORB/Subscription.hpp>
#include <lib/timesync/Timesync.hpp>
#include "srv_base.h"
@@ -106,6 +110,11 @@ public:
private:
int setBaudrate(int fd, unsigned baud);
void handleMessageFormatRequest();
uORB::Publication<message_format_response_s> _message_format_response_pub{ORB_ID(message_format_response)};
uORB::Subscription _message_format_request_sub{ORB_ID(message_format_request)};
const bool _localhost_only;
const bool _custom_participant;
const char *_client_namespace;