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microRTPS: send the system ID with the RTPS packet header and remove the need for extra id fields in uORB

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This allows that all messages (not only timesync messages) that get received on the same system that sent them do not get parsed. As the microRTPS agent is built currently, this will only happen right now if someone sets the same UDP port to send and receive data, or by manually changing the agent topics (which were always autogenerated).
This commit is contained in:
TSC21
2021-08-12 08:44:53 +02:00
committed by Nuno Marques
parent a10dab516c
commit ba3dbbd38d
8 changed files with 205 additions and 182 deletions
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msg/templates/urtps/microRTPS_agent.cpp.em
+12 -2
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@@ -286,10 +286,19 @@ int main(int argc, char **argv)
printf("[ micrortps_agent ]\tUsing only the localhost network...\n");
}
/**
* Set the system ID to Mission Computer, in order to identify the agent side
*
* Note: theoretically a multi-agent system is possible, but this would require
* adjustments in the way the timesync is done (would have to create a timesync
* instance per agent). Keeping it contained for a 1:1 link for now is reasonable.
*/
const uint8_t sys_id = static_cast<uint8_t>(MicroRtps::System::MISSION_COMPUTER);
switch (_options.transport) {
case options::eTransports::UART: {
transport_node = std::make_unique<UART_node>(_options.device, _options.baudrate, _options.poll_ms,
_options.sw_flow_control, _options.hw_flow_control, _options.verbose_debug);
_options.sw_flow_control, _options.hw_flow_control, sys_id, _options.verbose_debug);
printf("[ micrortps_agent ]\tUART transport: device: %s; baudrate: %d; sleep: %dus; poll: %dms; flow_control: %s\n",
_options.device, _options.baudrate, _options.sleep_us, _options.poll_ms,
_options.sw_flow_control ? "SW enabled" : (_options.hw_flow_control ? "HW enabled" : "No"));
@@ -297,7 +306,8 @@ int main(int argc, char **argv)
break;
case options::eTransports::UDP: {
transport_node = std::make_unique<UDP_node>(_options.ip, _options.recv_port, _options.send_port, _options.verbose_debug);
transport_node = std::make_unique<UDP_node>(_options.ip, _options.recv_port, _options.send_port,
sys_id, _options.verbose_debug);
printf("[ micrortps_agent ]\tUDP transport: ip address: %s; recv port: %u; send port: %u; sleep: %dus\n",
_options.ip, _options.recv_port, _options.send_port, _options.sleep_us);
}