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microdds_client: add namespace to partecipant name

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The partecipant name is modified into
"client_namespace"/px4_micro_xrce_dds

For sitl builds the microdds_client is automatically started
with namespace
px4_"instance_number"
and udp port
8888+"intance_number"

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
This commit is contained in:
Beniamino Pozzan 2022-10-21 16:23:55 -07:00 committed by Daniel Agar
parent 8eb2a0a3ec
commit a92897fb58
2 changed files with 43 additions and 29 deletions
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2
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@ -260,7 +260,7 @@ fi
navigator start
# Try to start the microdds_client with UDP transport if module exists
microdds_client start -t udp -p 8888
microdds_client start -t udp -p "$((px4_instance+8888))" -n "px4_${px4_instance}"
if param greater -s MNT_MODE_IN -1
then

70
src/modules/microdds_client/microdds_client.cpp
View File

@ -53,6 +53,8 @@
#define STREAM_HISTORY 4
#define BUFFER_SIZE (UXR_CONFIG_SERIAL_TRANSPORT_MTU * STREAM_HISTORY) // MTU==512 by default
#define PARTICIPANT_XML_SIZE 512
using namespace time_literals;
void on_time(uxrSession *session, int64_t current_time, int64_t received_timestamp, int64_t transmit_timestamp,
@ -222,34 +224,46 @@ void MicroddsClient::run()
// uint16_t participant_req = uxr_buffer_create_participant_bin(&session, reliable_out, participant_id, domain_id,
// participant_name, UXR_REPLACE);
// TODO: configurable participant name with client namespace?
const char *participant_xml = _localhost_only ?
"<dds>"
"<profiles>"
"<transport_descriptors>"
"<transport_descriptor>"
"<transport_id>udp_localhost</transport_id>"
"<type>UDPv4</type>"
"<interfaceWhiteList><address>127.0.0.1</address></interfaceWhiteList>"
"</transport_descriptor>"
"</transport_descriptors>"
"</profiles>"
"<participant>"
"<rtps>"
"<name>px4_micro_xrce_dds</name>"
"<useBuiltinTransports>false</useBuiltinTransports>"
"<userTransports><transport_id>udp_localhost</transport_id></userTransports>"
"</rtps>"
"</participant>"
"</dds>"
:
"<dds>"
"<participant>"
"<rtps>"
"<name>px4_micro_xrce_dds</name>"
"</rtps>"
"</participant>"
"</dds>" ;
char participant_xml[PARTICIPANT_XML_SIZE];
int ret = snprintf(participant_xml, PARTICIPANT_XML_SIZE, "%s<name>%s/px4_micro_xrce_dds</name>%s",
_localhost_only ?
"<dds>"
"<profiles>"
"<transport_descriptors>"
"<transport_descriptor>"
"<transport_id>udp_localhost</transport_id>"
"<type>UDPv4</type>"
"<interfaceWhiteList><address>127.0.0.1</address></interfaceWhiteList>"
"</transport_descriptor>"
"</transport_descriptors>"
"</profiles>"
"<participant>"
"<rtps>"
:
"<dds>"
"<participant>"
"<rtps>",
_client_namespace != nullptr ?
_client_namespace
:
"",
_localhost_only ?
"<useBuiltinTransports>false</useBuiltinTransports>"
"<userTransports><transport_id>udp_localhost</transport_id></userTransports>"
"</rtps>"
"</participant>"
"</dds>"
:
"</rtps>"
"</participant>"
"</dds>"
);
if (ret < 0 || ret >= TOPIC_NAME_SIZE) {
PX4_ERR("create entities failed: namespace too long");
return;
}
uint16_t participant_req = uxr_buffer_create_participant_xml(&session, reliable_out, participant_id, domain_id,
participant_xml, UXR_REPLACE);