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msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge

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- update all msgs to be directly compatible with ROS2
 - microdds_client improvements
   - timesync
   - reduced code size
   - add to most default builds if we can afford it
   - lots of other little changes
 - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
This commit is contained in:
Daniel Agar
2022-10-19 19:36:47 -04:00
committed by GitHub
parent e211e0ca0e
commit cea185268e
318 changed files with 1948 additions and 8939 deletions
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src/drivers/drv_hrt.h
+6 -6
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@@ -139,7 +139,7 @@ static inline hrt_abstime ts_to_abstime(const struct timespec *ts)
hrt_abstime result;
result = (hrt_abstime)(ts->tv_sec) * 1000000;
result += ts->tv_nsec / 1000;
result += (hrt_abstime)(ts->tv_nsec / 1000);
return result;
}
@@ -149,9 +149,9 @@ static inline hrt_abstime ts_to_abstime(const struct timespec *ts)
*/
static inline void abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
{
ts->tv_sec = abstime / 1000000;
abstime -= ts->tv_sec * 1000000;
ts->tv_nsec = abstime * 1000;
ts->tv_sec = (time_t)abstime / 1000000;
abstime -= (hrt_abstime)(ts->tv_sec * 1000000);
ts->tv_nsec = (typeof(ts->tv_nsec))(abstime * 1000);
}
/**
@@ -249,8 +249,8 @@ __EXPORT extern void px4_lockstep_wait_for_components(void);
#else
static inline int px4_lockstep_register_component(void) { return 0; }
static inline void px4_lockstep_unregister_component(int component) { }
static inline void px4_lockstep_progress(int component) { }
static inline void px4_lockstep_unregister_component(int component) { (void)component; }
static inline void px4_lockstep_progress(int component) {(void)component; }
static inline void px4_lockstep_wait_for_components(void) { }
#endif /* defined(ENABLE_LOCKSTEP_SCHEDULER) */