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ucrxe_dds_client: Implement simple parameter-driven message namespace (#25444)

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* ucrxe_dds_client: Implement simple parameter-driven message namespace

* chore: remove change of parameter_reference.md

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>

---------

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
H S Helson Go
2025-09-20 11:32:00 -04:00
committed by GitHub
parent 91fa0f4693
commit b081cf5c31
3 changed files with 52 additions and 2 deletions
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src/modules/uxrce_dds_client/module.yaml
+13
View File
@@ -129,3 +129,16 @@ parameters:
reboot_required: true
default: -1
unit: s
UXRCE_DDS_NS_IDX:
description:
short: Define an index-based message namespace
long: |
Defines an index-based namespace for DDS messages, e.g, uav_0, uav_1, up to uav_9999
A value less than zero leaves the namespace empty
type: int32
min: -1
max: 9999
category: System
reboot_required: true
default: -1
src/modules/uxrce_dds_client/uxrce_dds_client.cpp
+19 -1
View File
@@ -49,6 +49,7 @@
#include <stdlib.h>
#include <unistd.h>
static constexpr char NAMESPACE_PREFIX[] = "uav_";
#define PARTICIPANT_XML_SIZE 512
static constexpr uint8_t TIMESYNC_MAX_TIMEOUTS = 10;
@@ -1028,6 +1029,23 @@ UxrceddsClient *UxrceddsClient::instantiate(int argc, char *argv[])
}
}
if (client_namespace == nullptr) {
int32_t ns_idx = -1;
param_get(param_find("UXRCE_DDS_NS_IDX"), &ns_idx);
if (ns_idx > -1) {
if (ns_idx < 10000) {
// Allocate buffer for prefix + '\0' + 4 digits
static char client_namespace_buf[sizeof(NAMESPACE_PREFIX) + 4];
snprintf(client_namespace_buf, sizeof client_namespace_buf, "%s%u", NAMESPACE_PREFIX, (uint16_t)ns_idx);
client_namespace = client_namespace_buf;
} else {
PX4_WARN("namespace index must be between 0 and 9999 inclusive; ignoring index-based namespace");
}
}
}
#if defined(UXRCE_DDS_CLIENT_UDP)
if (port[0] == '\0') {
@@ -1092,7 +1110,7 @@ $ uxrce_dds_client start -t udp -h 127.0.0.1 -p 15555
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 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_STRING('n', nullptr, nullptr, "Client DDS namespace", true);
PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, nullptr, "Client DDS namespace. If not provided but UXRCE_DDS_NS_IDX is between 0 and 9999 inclusive, then uav_ + UXRCE_DDS_NS_IDX will be used", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;