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Robustify RTPS bridge stream parsing.

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This commit is contained in:
Thomas Schneider
2022-07-04 15:40:36 +02:00
committed by Daniel Agar
parent 089fbdccc9
commit cd66a262ee
4 changed files with 136 additions and 82 deletions
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msg/templates/uorb_microcdr/microRTPS_client.cpp.em
+5 -1
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@@ -253,10 +253,14 @@ void micrortps_start_topics(const uint32_t &datarate, struct timespec &begin, ui
while (!_should_exit_task) {
@[if recv_topics]@
while (0 < (read = transport_node->read(&topic_ID, data_buffer, BUFFER_SIZE))) {
read = transport_node->read();
if (read > 0) {
total_rcvd += read;
rx_last_sec_read += read;
}
while (transport_node->parse(&topic_ID, data_buffer, BUFFER_SIZE)) {
uint64_t read_time = hrt_absolute_time();
switch (topic_ID) {