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microdds_client: add XRCE_DDS_KEY parameter

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Multiple agents can connect to the same client

For sitl builds, if the intance number is different from zero,
  XRCE_DDS_KEY is set to the instance number and
  the microdds_client is automatically started
    with namespace
      px4_"instance_number"
    and udp port 8888
If the instance number is equal to zero
  XRCE_DDS_KEY is left untouched and
  the microdds_client is automatically started
    without namespace
    and udp port 8888

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
This commit is contained in:
Beniamino Pozzan
2022-10-26 20:50:23 -07:00
committed by Daniel Agar
parent a92897fb58
commit 5a2e41c4e4
4 changed files with 28 additions and 3 deletions
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src/modules/microdds_client/microdds_client.h
+2 -1
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@@ -92,7 +92,8 @@ private:
Timesync _timesync{};
DEFINE_PARAMETERS(
(ParamInt<px4::params::XRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id
(ParamInt<px4::params::XRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id,
(ParamInt<px4::params::XRCE_DDS_KEY>) _param_xrce_key
)
};