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microRTPS: move buffer size to transport

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This commit is contained in:
TSC21
2020-07-31 14:13:10 +01:00
committed by Nuno Marques
parent 407bd8860f
commit b2845c60d3
4 changed files with 4 additions and 6 deletions
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msg/templates/urtps/microRTPS_agent.cpp.em
-2
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@@ -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 "microRTPS_timesync.h"
#include "RtpsTopics.h" #include "RtpsTopics.h"
#define BUFFER_SIZE 1024
// Default values // Default values
#define DEVICE "/dev/ttyACM0" #define DEVICE "/dev/ttyACM0"
#define SLEEP_US 1 #define SLEEP_US 1
msg/templates/urtps/microRTPS_transport.cpp
-2
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@@ -43,8 +43,6 @@
#include "microRTPS_transport.h" #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) */ /** CRC table for the CRC-16. The poly is 0x8005 (x^16 + x^15 + x^2 + 1) */
uint16_t const crc16_table[256] = { uint16_t const crc16_table[256] = {
0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241, 0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
msg/templates/urtps/microRTPS_transport.h
+4 -1
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@@ -38,6 +38,9 @@
#include <poll.h> #include <poll.h>
#include <termios.h> #include <termios.h>
#define BUFFER_SIZE 1024
#define DEFAULT_UART "/dev/ttyACM0"
class Transport_node class Transport_node
{ {
public: public:
@@ -74,7 +77,7 @@ protected:
protected: protected:
uint32_t rx_buff_pos; uint32_t rx_buff_pos;
char rx_buffer[1024] = {}; char rx_buffer[BUFFER_SIZE] = {};
private: private:
struct __attribute__((packed)) Header { struct __attribute__((packed)) Header {
src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
-1
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@@ -49,7 +49,6 @@
#include <px4_platform_common/time.h> #include <px4_platform_common/time.h>
#include <uORB/uORB.h> #include <uORB/uORB.h>
#define BUFFER_SIZE 1024
#define LOOPS -1 #define LOOPS -1
#define SLEEP_MS 1 #define SLEEP_MS 1
#define BAUDRATE 460800 #define BAUDRATE 460800