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micrortps_client: more cleanup

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This commit is contained in:
TSC21
2019-11-24 21:39:01 +00:00
committed by Nuno Marques
parent ec0803815e
commit d80da97ef5
4 changed files with 29 additions and 39 deletions
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msg/templates/urtps/microRTPS_transport.cpp
+4 -8
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@@ -161,10 +161,7 @@ ssize_t Transport_node::read(uint8_t *topic_ID, char out_buffer[], size_t buffer
return -1;
}
/*
* [>,>,>,topic_ID,seq,payload_length_H,payload_length_L,CRCHigh,CRCLow,payloadStart, ... ,payloadEnd]
*/
// [>,>,>,topic_ID,seq,payload_length_H,payload_length_L,CRCHigh,CRCLow,payloadStart, ... ,payloadEnd]
struct Header *header = (struct Header *)&rx_buffer[msg_start_pos];
uint32_t payload_len = ((uint32_t)header->payload_len_h << 8) | header->payload_len_l;
@@ -241,7 +238,6 @@ ssize_t Transport_node::write(const uint8_t topic_ID, char buffer[], size_t leng
static uint8_t seq = 0;
// [>,>,>,topic_ID,seq,payload_length,CRCHigh,CRCLow,payload_start, ... ,payload_end]
uint16_t crc = crc16((uint8_t *)&buffer[sizeof(header)], length);
header.topic_ID = topic_ID;
@@ -252,7 +248,7 @@ ssize_t Transport_node::write(const uint8_t topic_ID, char buffer[], size_t leng
header.crc_l = crc & 0xff;
/* Headroom for header is created in client */
/*Fill in the header in the same payload buffer to call a single node_write */
/* Fill in the header in the same payload buffer to call a single node_write */
memcpy(buffer, &header, sizeof(header));
ssize_t len = node_write(buffer, length + sizeof(header));
if (len != ssize_t(length + sizeof(header))) {
@@ -380,11 +376,11 @@ int UART_node::init()
* According to px4_time.h, px4_usleep() is only defined when lockstep is set
* to be used
*/
#ifndef ENABLE_LOCKSTEP_SCHEDULER
#ifndef px4_usleep
usleep(1000);
#else
px4_usleep(1000);
#endif /* ENABLE_LOCKSTEP_SCHEDULER */
#endif /* px4_usleep */
}
if (flush) {