From b2845c60d3c8ff93578526f6dbdb24574ae41eee Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Thu, 16 Jul 2020 19:18:48 +0100
Subject: [PATCH] microRTPS: move buffer size to transport

---
 msg/templates/urtps/microRTPS_agent.cpp.em                   | 2 --
 msg/templates/urtps/microRTPS_transport.cpp                  | 2 --
 msg/templates/urtps/microRTPS_transport.h                    | 5 ++++-
 .../micrortps_bridge/micrortps_client/microRTPS_client.h     | 1 -
 4 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/msg/templates/urtps/microRTPS_agent.cpp.em b/msg/templates/urtps/microRTPS_agent.cpp.em
index 321e1863e0..ba59e47d00 100644
--- a/msg/templates/urtps/microRTPS_agent.cpp.em
+++ b/msg/templates/urtps/microRTPS_agent.cpp.em
@@ -73,8 +73,6 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
 #include "microRTPS_timesync.h"
 #include "RtpsTopics.h"
 
-#define BUFFER_SIZE 1024
-
 // Default values
 #define DEVICE "/dev/ttyACM0"
 #define SLEEP_US 1
diff --git a/msg/templates/urtps/microRTPS_transport.cpp b/msg/templates/urtps/microRTPS_transport.cpp
index 1505e92569..0d6b0c241c 100644
--- a/msg/templates/urtps/microRTPS_transport.cpp
+++ b/msg/templates/urtps/microRTPS_transport.cpp
@@ -43,8 +43,6 @@
 
 #include "microRTPS_transport.h"
 
-#define DEFAULT_UART "/dev/ttyACM0"
-
 /** CRC table for the CRC-16. The poly is 0x8005 (x^16 + x^15 + x^2 + 1) */
 uint16_t const crc16_table[256] = {
 	0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
diff --git a/msg/templates/urtps/microRTPS_transport.h b/msg/templates/urtps/microRTPS_transport.h
index afc5b90a28..f179c4c863 100644
--- a/msg/templates/urtps/microRTPS_transport.h
+++ b/msg/templates/urtps/microRTPS_transport.h
@@ -38,6 +38,9 @@
 #include <poll.h>
 #include <termios.h>
 
+#define BUFFER_SIZE 1024
+#define DEFAULT_UART "/dev/ttyACM0"
+
 class Transport_node
 {
 public:
@@ -74,7 +77,7 @@ protected:
 
 protected:
 	uint32_t rx_buff_pos;
-	char rx_buffer[1024] = {};
+	char rx_buffer[BUFFER_SIZE] = {};
 
 private:
 	struct __attribute__((packed)) Header {
diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
index 856c369f19..685a8a45ca 100644
--- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+++ b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
@@ -49,7 +49,6 @@
 #include <px4_platform_common/time.h>
 #include <uORB/uORB.h>
 
-#define BUFFER_SIZE 1024
 #define LOOPS -1
 #define SLEEP_MS 1
 #define BAUDRATE 460800