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microdds_client: rename to uxrce_dds_client

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| | 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>
This commit is contained in:
Beniamino Pozzan
2023-05-03 11:51:53 -07:00
committed by Ramon Roche
parent 1d4b66fcbc
commit 9e5420bbbd
52 changed files with 121 additions and 122 deletions
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src/modules/uxrce_dds_client/utilities.hpp
+138
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#pragma once
#include <uxr/client/client.h>
#include <ucdr/microcdr.h>
#include <uORB/topics/uORBTopics.hpp>
#define TOPIC_NAME_SIZE 128
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);
uxrObjectId topic_id = uxr_object_id(id, UXR_TOPIC_ID);
return topic_id;
}
return uxrObjectId{};
}
static bool generate_topic_name(char *topic, const char *client_namespace, const char *direction, const char *name)
{
if (client_namespace != nullptr) {
int ret = snprintf(topic, TOPIC_NAME_SIZE, "rt/%s/fmu/%s/%s", client_namespace, direction, name);
return (ret > 0 && ret < TOPIC_NAME_SIZE);
}
int ret = snprintf(topic, TOPIC_NAME_SIZE, "rt/fmu/%s/%s", direction, name);
return (ret > 0 && ret < TOPIC_NAME_SIZE);
}
static bool create_data_writer(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrObjectId participant_id,
ORB_ID orb_id, const char *client_namespace, const char *topic_name_simple, const char *type_name,
uxrObjectId &datawriter_id)
{
// topic
char topic_name[TOPIC_NAME_SIZE];
if (!generate_topic_name(topic_name, client_namespace, "out", topic_name_simple)) {
PX4_ERR("topic path too long");
return false;
}
uxrObjectId topic_id = topic_id_from_orb(orb_id);
uint16_t topic_req = uxr_buffer_create_topic_bin(session, reliable_out_stream_id, topic_id, participant_id, topic_name,
type_name, UXR_REPLACE);
// publisher
uxrObjectId publisher_id = uxr_object_id(topic_id.id, UXR_PUBLISHER_ID);
uint16_t publisher_req = uxr_buffer_create_publisher_bin(session, reliable_out_stream_id, publisher_id, participant_id,
UXR_REPLACE);
// data writer
datawriter_id = uxr_object_id(topic_id.id, UXR_DATAWRITER_ID);
uxrQoS_t qos = {
.durability = UXR_DURABILITY_TRANSIENT_LOCAL,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 0,
};
uint16_t datawriter_req = uxr_buffer_create_datawriter_bin(session, reliable_out_stream_id, datawriter_id, publisher_id,
topic_id, qos, UXR_REPLACE);
// Send create entities message and wait its status
uint16_t requests[3] {topic_req, publisher_req, datawriter_req};
uint8_t status[3];
if (!uxr_run_session_until_all_status(session, 1000, requests, status, 3)) {
PX4_ERR("create entities failed: %s, topic: %i publisher: %i datawriter: %i",
topic_name, status[0], status[1], status[2]);
return false;
} else {
PX4_INFO("successfully created %s data writer, topic id: %d", topic_name, topic_id.id);
}
return true;
}
static bool create_data_reader(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId input_stream_id,
uxrObjectId participant_id, uint16_t index, const char *client_namespace, const char *topic_name_simple,
const char *type_name, uint16_t queue_depth)
{
// topic
char topic_name[TOPIC_NAME_SIZE];
if (!generate_topic_name(topic_name, client_namespace, "in", topic_name_simple)) {
PX4_ERR("topic path too long");
return false;
}
uint16_t id = index + 1000;
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,
type_name, UXR_REPLACE);
// subscriber
uxrObjectId subscriber_id = uxr_object_id(id, UXR_SUBSCRIBER_ID);
uint16_t subscriber_req = uxr_buffer_create_subscriber_bin(session, reliable_out_stream_id, subscriber_id,
participant_id, UXR_REPLACE);
// data reader
uxrObjectId datareader_id = uxr_object_id(id, UXR_DATAREADER_ID);
uxrQoS_t qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = queue_depth,
};
uint16_t datareader_req = uxr_buffer_create_datareader_bin(session, reliable_out_stream_id, datareader_id,
subscriber_id, topic_id, qos, UXR_REPLACE);
uint16_t requests[3] {topic_req, subscriber_req, datareader_req};
uint8_t status[3];
if (!uxr_run_session_until_all_status(session, 1000, requests, status, 3)) {
PX4_ERR("create entities failed: %s %i %i %i", topic_name,
status[0], status[1], status[2]);
return false;
}
uxrDeliveryControl delivery_control{};
delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED;
uxr_buffer_request_data(session, reliable_out_stream_id, datareader_id, input_stream_id, &delivery_control);
return true;
}