microdds_client: rename to uxrce_dds_client

| | old version | new version (second proposal) |
|-|-|-|
| module name | `microdds_client` | **`uxrce_dds_client`** |
| strings / comments about the module | non consistent | **UXRCE-DDS Client** |
| menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** |
| module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** |
| module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` |
| module class name | `MicroddsClient` | **`UxrceddsClient`** |
|`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** |
| main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**|
| environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** |

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>

src/modules/microdds_client/Kconfig

@@ -1,5 +0,0 @@
-menuconfig MODULES_MICRODDS_CLIENT
-	bool "microdds_client"
-	default n
-	---help---
-		Enable support for the MicroDDS Client

src/modules/uxrce_dds_client/CMakeLists.txt

@@ -32,7 +32,7 @@
 ############################################################################
 
 if(${CMAKE_VERSION} VERSION_LESS "3.11")
-    message(WARNING "skipping microdds_client, Micro-XRCE-DDS-Client needs to be fixed to work with CMAKE_VERSION ${CMAKE_VERSION}")
+    message(WARNING "skipping uxrce_dds_client, Micro-XRCE-DDS-Client needs to be fixed to work with CMAKE_VERSION ${CMAKE_VERSION}")
 
 else()
 	px4_add_git_submodule(TARGET git_micro_xrce_dds_client PATH "${CMAKE_CURRENT_LIST_DIR}/Micro-XRCE-DDS-Client")
@@ -130,8 +130,8 @@ else()
 	add_custom_target(topic_bridge_files DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h)
 
 	px4_add_module(
-		MODULE modules__microdds_client
-		MAIN microdds_client
+		MODULE modules__uxrce_dds_client
+		MAIN uxrce_dds_client
 		STACK_MAIN 9000
 		INCLUDES
 			${CMAKE_CURRENT_SOURCE_DIR}
@@ -140,8 +140,8 @@ else()
 			${MAX_CUSTOM_OPT_LEVEL}
 		SRCS
 			${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h
-			microdds_client.cpp
-			microdds_client.h
+			uxrce_dds_client.cpp
+			uxrce_dds_client.h
 		DEPENDS
 			microxrceddsclient
 			libmicroxrceddsclient

src/modules/uxrce_dds_client/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_UXRCE_DDS_CLIENT
+	bool "uxrce_dds_client"
+	default n
+	---help---
+		Enable support for the UXRCE-DDS Client

src/modules/uxrce_dds_client/dds_topics.yaml

@@ -1,6 +1,6 @@
 #####
 #
-# This file maps all the topics that are to be used on the micro DDS client.
+# This file maps all the topics that are to be used on the uXRCE-DDS client.
 #
 #####
 publications:

src/modules/uxrce_dds_client/generate_dds_topics.py

@@ -53,7 +53,7 @@ parser.add_argument("-t", "--template_file", dest='template_file', type=str,
                     help="DDS topics template file")
 
 parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str,
-                    help="Client output dir, by default using relative path 'src/modules/microdds_client'", default=None)
+                    help="Client output dir, by default using relative path 'src/modules/uxrce_dds_client'", default=None)
 
 if len(sys.argv) <= 1:
     parser.print_usage()

src/modules/uxrce_dds_client/module.yaml

@@ -1,36 +1,36 @@
-module_name: Micro XRCE-DDS
+module_name: UXRCE-DDS Client
 serial_config:
     - command: |
         if [ $SERIAL_DEV != ethernet ]; then
-            set XRCE_DDS_ARGS "-t serial -d ${SERIAL_DEV} -b p:${BAUD_PARAM}"
+            set UXRCE_DDS_ARGS "-t serial -d ${SERIAL_DEV} -b p:${BAUD_PARAM}"
         else
-            set XRCE_DDS_ARGS "-t udp"
+            set UXRCE_DDS_ARGS "-t udp"
         fi
-        microdds_client start ${XRCE_DDS_ARGS}
+        uxrce_dds_client start ${UXRCE_DDS_ARGS}
 
       port_config_param:
-        name: XRCE_DDS_CFG
-        group: Micro XRCE-DDS
+        name: UXRCE_DDS_CFG
+        group: UXRCE-DDS Client
       supports_networking: true
 
 parameters:
-    - group: Micro XRCE-DDS
+    - group: UXRCE-DDS Client
       definitions:
 
-        XRCE_DDS_DOM_ID:
+        UXRCE_DDS_DOM_ID:
             description:
-                short: XRCE DDS domain ID
-                long: XRCE DDS domain ID
+                short: uXRCE-DDS domain ID
+                long: uXRCE-DDS domain ID
             category: System
             type: int32
             reboot_required: true
             default: 0
 
-        XRCE_DDS_KEY:
+        UXRCE_DDS_KEY:
             description:
-                short: XRCE DDS Session key
+                short: uXRCE-DDS Session key
                 long: |
-                    XRCE DDS key, must be different from zero.
+                    uXRCE-DDS key, must be different from zero.
                     In a single agent - multi client configuration, each client
                     must have a unique session key.
             category: System
@@ -38,11 +38,11 @@ parameters:
             reboot_required: true
             default: 1
 
-        XRCE_DDS_PRT:
+        UXRCE_DDS_PRT:
             description:
-                short: Micro DDS UDP Port
+                short: uXRCE-DDS UDP Port
                 long: |
-                    If ethernet enabled and selected as configuration for micro DDS,
+                    If ethernet enabled and selected as configuration for uXRCE-DDS,
                     selected udp port will be set and used.
             type: int32
             min: 0
@@ -51,11 +51,11 @@ parameters:
             default: 8888
             requires_ethernet: true
 
-        XRCE_DDS_AG_IP:
+        UXRCE_DDS_AG_IP:
             description:
-                short: Micro DDS Agent IP address
+                short: uXRCE-DDS Agent IP address
                 long: |
-                    If ethernet enabled and selected as configuration for micro DDS,
+                    If ethernet enabled and selected as configuration for uXRCE-DDS,
                     selected Agent IP address will be set and used.
                     Decimal dot notation is not supported. IP address must be provided
                     in int32 format. For example, 192.168.1.2 is mapped to -1062731518;

src/modules/uxrce_dds_client/uxrce_dds_client.cpp

@@ -35,7 +35,7 @@
 #include <px4_platform_common/cli.h>
 #include <px4_platform_common/posix.h>
 
-#include "microdds_client.h"
+#include "uxrce_dds_client.h"
 
 #include <uxr/client/client.h>
 #include <uxr/client/util/ping.h>
@@ -47,7 +47,7 @@
 #include <unistd.h>
 
 #if defined(CONFIG_NET) || defined(__PX4_POSIX)
-# define MICRODDS_CLIENT_UDP 1
+# define UXRCE_DDS_CLIENT_UDP 1
 #endif
 
 #define STREAM_HISTORY  4
@@ -79,7 +79,7 @@ void on_time(uxrSession *session, int64_t current_time, int64_t received_timesta
 	}
 }
 
-MicroddsClient::MicroddsClient(Transport transport, const char *device, int baudrate, const char *agent_ip,
+UxrceddsClient::UxrceddsClient(Transport transport, const char *device, int baudrate, const char *agent_ip,
 			       const char *port, bool localhost_only, bool custom_participant, const char *client_namespace) :
 	ModuleParams(nullptr),
 	_localhost_only(localhost_only), _custom_participant(custom_participant),
@@ -120,7 +120,7 @@ MicroddsClient::MicroddsClient(Transport transport, const char *device, int baud
 
 	} else if (transport == Transport::Udp) {
 
-#if defined(MICRODDS_CLIENT_UDP)
+#if defined(UXRCE_DDS_CLIENT_UDP)
 		_transport_udp = new uxrUDPTransport();
 		strncpy(_port, port, PORT_MAX_LENGTH - 1);
 		strncpy(_agent_ip, agent_ip, AGENT_IP_MAX_LENGTH - 1);
@@ -141,7 +141,7 @@ MicroddsClient::MicroddsClient(Transport transport, const char *device, int baud
 	}
 }
 
-MicroddsClient::~MicroddsClient()
+UxrceddsClient::~UxrceddsClient()
 {
 	delete _subs;
 	delete _pubs;
@@ -157,7 +157,7 @@ MicroddsClient::~MicroddsClient()
 	}
 }
 
-void MicroddsClient::run()
+void UxrceddsClient::run()
 {
 	if (!_comm) {
 		PX4_ERR("init failed");
@@ -386,7 +386,7 @@ void MicroddsClient::run()
 	}
 }
 
-int MicroddsClient::setBaudrate(int fd, unsigned baud)
+int UxrceddsClient::setBaudrate(int fd, unsigned baud)
 {
 	int speed;
 
@@ -523,14 +523,14 @@ int MicroddsClient::setBaudrate(int fd, unsigned baud)
 	return 0;
 }
 
-int MicroddsClient::custom_command(int argc, char *argv[])
+int UxrceddsClient::custom_command(int argc, char *argv[])
 {
 	return print_usage("unknown command");
 }
 
-int MicroddsClient::task_spawn(int argc, char *argv[])
+int UxrceddsClient::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("microdds_client",
+	_task_id = px4_task_spawn_cmd("uxrce_dds_client",
 				      SCHED_DEFAULT,
 				      SCHED_PRIORITY_DEFAULT,
 				      PX4_STACK_ADJUSTED(10000),
@@ -545,10 +545,10 @@ int MicroddsClient::task_spawn(int argc, char *argv[])
 	return 0;
 }
 
-int MicroddsClient::print_status()
+int UxrceddsClient::print_status()
 {
 	PX4_INFO("Running, %s", _connected ? "connected" : "disconnected");
-#if defined(MICRODDS_CLIENT_UDP)
+#if defined(UXRCE_DDS_CLIENT_UDP)
 
 	if (_transport_udp != nullptr) {
 		PX4_INFO("Using transport: udp");
@@ -571,7 +571,7 @@ int MicroddsClient::print_status()
 	return 0;
 }
 
-MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
+UxrceddsClient *UxrceddsClient::instantiate(int argc, char *argv[])
 {
 	bool error_flag = false;
 	int myoptind = 1;
@@ -581,7 +581,7 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 	char port[PORT_MAX_LENGTH] = {0};
 	char agent_ip[AGENT_IP_MAX_LENGTH] = {0};
 
-#if defined(MICRODDS_CLIENT_UDP)
+#if defined(UXRCE_DDS_CLIENT_UDP)
 	Transport transport = Transport::Udp;
 #else
 	Transport transport = Transport::Serial;
@@ -622,7 +622,7 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 
 			break;
 
-#if defined(MICRODDS_CLIENT_UDP)
+#if defined(UXRCE_DDS_CLIENT_UDP)
 
 		case 'h':
 			snprintf(agent_ip, AGENT_IP_MAX_LENGTH, "%s", myoptarg);
@@ -639,7 +639,7 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 		case 'c':
 			custom_participant = true;
 			break;
-#endif // MICRODDS_CLIENT_UDP
+#endif // UXRCE_DDS_CLIENT_UDP
 
 		case 'n':
 			client_namespace = myoptarg;
@@ -656,12 +656,12 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 		}
 	}
 
-#if defined(MICRODDS_CLIENT_UDP)
+#if defined(UXRCE_DDS_CLIENT_UDP)
 
 	if (port[0] == '\0') {
-		// no port specified, use XRCE_DDS_PRT
+		// no port specified, use UXRCE_DDS_PRT
 		int32_t port_i = 0;
-		param_get(param_find("XRCE_DDS_PRT"), &port_i);
+		param_get(param_find("UXRCE_DDS_PRT"), &port_i);
 
 		if (port_i < 0 || port_i > 65535) {
 			PX4_ERR("port must be between 0 and 65535");
@@ -672,16 +672,16 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 	}
 
 	if (agent_ip[0] == '\0') {
-		// no agent ip specified, use XRCE_DDS_AG_IP
+		// no agent ip specified, use UXRCE_DDS_AG_IP
 		int32_t ip_i = 0;
-		param_get(param_find("XRCE_DDS_AG_IP"), &ip_i);
+		param_get(param_find("UXRCE_DDS_AG_IP"), &ip_i);
 		snprintf(agent_ip, AGENT_IP_MAX_LENGTH, "%u.%u.%u.%u", static_cast<uint8_t>(((ip_i) >> 24) & 0xff),
 			 static_cast<uint8_t>(((ip_i) >> 16) & 0xff),
 			 static_cast<uint8_t>(((ip_i) >> 8) & 0xff),
 			 static_cast<uint8_t>(ip_i & 0xff));
 	}
 
-#endif // MICRODDS_CLIENT_UDP
+#endif // UXRCE_DDS_CLIENT_UDP
 
 	if (error_flag) {
 		return nullptr;
@@ -694,11 +694,11 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 		}
 	}
 
-	return new MicroddsClient(transport, device, baudrate, agent_ip, port, localhost_only, custom_participant,
+	return new UxrceddsClient(transport, device, baudrate, agent_ip, port, localhost_only, custom_participant,
 				  client_namespace);
 }
 
-int MicroddsClient::print_usage(const char *reason)
+int UxrceddsClient::print_usage(const char *reason)
 {
 	if (reason) {
 		PX4_WARN("%s\n", reason);
@@ -707,20 +707,20 @@ int MicroddsClient::print_usage(const char *reason)
 	PRINT_MODULE_DESCRIPTION(
 		R"DESCR_STR(
 ### Description
-MicroDDS Client used to communicate uORB topics with an Agent over serial or UDP.
+UXRCE-DDS Client used to communicate uORB topics with an Agent over serial or UDP.
 
 ### Examples
-$ microdds_client start -t serial -d /dev/ttyS3 -b 921600
-$ microdds_client start -t udp -h 127.0.0.1 -p 15555
+$ uxrce_dds_client start -t serial -d /dev/ttyS3 -b 921600
+$ uxrce_dds_client start -t udp -h 127.0.0.1 -p 15555
 )DESCR_STR");
 
-	PRINT_MODULE_USAGE_NAME("microdds_client", "system");
+	PRINT_MODULE_USAGE_NAME("uxrce_dds_client", "system");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAM_STRING('t', "udp", "serial|udp", "Transport protocol", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "serial device", true);
 	PRINT_MODULE_USAGE_PARAM_INT('b', 0, 0, 3000000, "Baudrate (can also be p:<param_name>)", true);
-	PRINT_MODULE_USAGE_PARAM_STRING('h', nullptr, "<IP>", "Agent IP. If not provided, defaults to XRCE_DDS_AG_IP", true);
-	PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 65535, "Agent listening port. If not provided, defaults to XRCE_DDS_PRT", true);
+	PRINT_MODULE_USAGE_PARAM_STRING('h', nullptr, "<IP>", "Agent IP. If not provided, defaults to UXRCE_DDS_AG_IP", true);
+	PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 65535, "Agent listening port. If not provided, defaults to UXRCE_DDS_PRT", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('l', "Restrict to localhost (use in combination with ROS_LOCALHOST_ONLY=1)", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('c', "Use custom participant config (profile_name=\"px4_participant\")", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, nullptr, "Client DDS namespace", true);
@@ -729,7 +729,7 @@ $ microdds_client start -t udp -h 127.0.0.1 -p 15555
 	return 0;
 }
 
-extern "C" __EXPORT int microdds_client_main(int argc, char *argv[])
+extern "C" __EXPORT int uxrce_dds_client_main(int argc, char *argv[])
 {
-	return MicroddsClient::main(argc, argv);
+	return UxrceddsClient::main(argc, argv);
 }

src/modules/uxrce_dds_client/uxrce_dds_client.h

@@ -36,11 +36,11 @@
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
 
-#include <src/modules/microdds_client/dds_topics.h>
+#include <src/modules/uxrce_dds_client/dds_topics.h>
 
 #include <lib/timesync/Timesync.hpp>
 
-class MicroddsClient : public ModuleBase<MicroddsClient>, public ModuleParams
+class UxrceddsClient : public ModuleBase<UxrceddsClient>, public ModuleParams
 {
 public:
 	enum class Transport {
@@ -48,16 +48,16 @@ public:
 		Udp
 	};
 
-	MicroddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port,
+	UxrceddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port,
 		       bool localhost_only, bool custom_participant, const char *client_namespace);
 
-	~MicroddsClient();
+	~UxrceddsClient();
 
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
 	/** @see ModuleBase */
-	static MicroddsClient *instantiate(int argc, char *argv[]);
+	static UxrceddsClient *instantiate(int argc, char *argv[]);
 
 	/** @see ModuleBase */
 	static int custom_command(int argc, char *argv[]);
@@ -104,8 +104,7 @@ private:
 	Timesync _timesync{timesync_status_s::SOURCE_PROTOCOL_DDS};
 
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::XRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id,
-		(ParamInt<px4::params::XRCE_DDS_KEY>) _param_xrce_key
+		(ParamInt<px4::params::UXRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id,
+		(ParamInt<px4::params::UXRCE_DDS_KEY>) _param_xrce_key
 	)
 };
-