fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-18 06:27:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

uxrce_dds_client: run session until we do not get data anymore

Browse Source 
Otherwise there can be significant delay for received data
This commit is contained in:
Beat Küng
2023-09-07 13:41:04 +02:00
parent 0b37155ed6
commit c0b9ecdc82
1 changed files with 11 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uxrce_dds_client/uxrce_dds_client.cpp
+11 -1
View File
@@ -420,7 +420,17 @@ void UxrceddsClient::run()
_subs->update(&session, reliable_out, best_effort_out, participant_id, _client_namespace);
uxr_run_session_timeout(&session, 0);
// Run the session until we receive no more data or up to a maximum number of iterations.
// The maximum observed number of iterations was 6 (SITL). If we were to run only once, data starts to get
// delayed, causing registered flight modes to time out.
for (int i = 0; i < 10; ++i) {
const uint32_t prev_num_payload_received = _pubs->num_payload_received;
uxr_run_session_timeout(&session, 0);
if (_pubs->num_payload_received == prev_num_payload_received) {
break;
}
}
// time sync session
if (_synchronize_timestamps && hrt_elapsed_time(&last_sync_session) > 1_s) {