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microRTPS: transport: make seq_number non-atomic

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TSC21
2020-07-31 14:13:10 +01:00
committed by Nuno Marques
parent 08e72b29b3
commit 3db9307dfb
2 changed files with 3 additions and 2 deletions
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msg/templates/urtps/microRTPS_transport.cpp
+1 -2
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@@ -232,13 +232,12 @@ ssize_t Transport_node::write(const uint8_t topic_ID, char buffer[], size_t leng
}
static struct Header header = {{'>', '>', '>'}, 0u, 0u, 0u, 0u, 0u, 0u};
static uint8_t seq = 0;
// [>,>,>,topic_ID,seq,payload_length,CRCHigh,CRCLow,payload_start, ... ,payload_end]
uint16_t crc = crc16((uint8_t *)&buffer[sizeof(header)], length);
header.topic_ID = topic_ID;
header.seq = seq++;
header.seq = _seq_number++;
header.payload_len_h = (length >> 8) & 0xff;
header.payload_len_l = length & 0xff;
header.crc_h = (crc >> 8) & 0xff;