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uorb: allow for more than 255 uORB messages

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Increased size for ORB_ID from uint8_t to uint16_t

Created a type: orb_id_size_t = uint16_t.
There are still a couple of places where the size
of the ORB_ID is assumed to be less than 16-bits.
The places that I have found are commented regarding
this and can be found with a search on orb_id_size_t.
This commit is contained in:
hskrieg
2023-08-08 10:59:34 +02:00
committed by Beat Küng
parent e9fbb9a3ab
commit 64c21ad428
9 changed files with 26 additions and 16 deletions
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src/modules/uxrce_dds_client/utilities.hpp
+13 -4
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@@ -10,8 +10,16 @@
uxrObjectId topic_id_from_orb(ORB_ID orb_id, uint8_t instance = 0)
{
if (orb_id != ORB_ID::INVALID) {
uint16_t id = static_cast<uint8_t>(orb_id) + (instance * UINT8_MAX);
// Note that the uxrObjectId.id is a uint16_t so we need to cap the ID.
// orb_id_size_t is currently uint16_t (MAX = 65535) and a max # of instances as either 4 or 10.
// We want to use half of the available id's for writers and half for readers,
// so this works as long as orb_id < 3276.
// Unfortunately, limits does not appear to be available. So hard-coding for uint16_t.
if (orb_id != ORB_ID::INVALID &&
//(orb_id_size_t) orb_id < (std::numeric_limits<orb_id_size_t> / (2*ORB_MULTI_MAX_INSTANCES) )
(orb_id_size_t) orb_id < (65535U / (2U * (uint16_t)ORB_MULTI_MAX_INSTANCES))
) {
uint16_t id = static_cast<orb_id_size_t>(orb_id) + (instance * ORB_TOPICS_COUNT);
uxrObjectId topic_id = uxr_object_id(id, UXR_TOPIC_ID);
return topic_id;
}
@@ -94,8 +102,9 @@ static bool create_data_reader(uxrSession *session, uxrStreamId reliable_out_str
return false;
}
uint16_t id = index + 1000;
// Use the second half of the available ID space.
// Add 1 so that we get a nice hex starting number: 0x8000 instead of 0x7fff.
uint16_t id = index + (65535U / 2U) + 1;
uxrObjectId topic_id = uxr_object_id(id, UXR_TOPIC_ID);
uint16_t topic_req = uxr_buffer_create_topic_bin(session, reliable_out_stream_id, topic_id, participant_id, topic_name,