mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-14 14:47:35 +08:00
Alexander Lerach
430be08131
* Add tx/rx timeouts * Code style & tx default timeout * Clarify TX/RX disable value
132 lines
4.6 KiB
YAML
132 lines
4.6 KiB
YAML
module_name: UXRCE-DDS Client
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serial_config:
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- command: |
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if [ $SERIAL_DEV != ethernet ]; then
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set UXRCE_DDS_ARGS "-t serial -d ${SERIAL_DEV} -b p:${BAUD_PARAM}"
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else
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set UXRCE_DDS_ARGS "-t udp"
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fi
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uxrce_dds_client start ${UXRCE_DDS_ARGS}
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port_config_param:
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name: UXRCE_DDS_CFG
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group: UXRCE-DDS Client
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supports_networking: true
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parameters:
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- group: UXRCE-DDS Client
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definitions:
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UXRCE_DDS_DOM_ID:
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description:
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short: uXRCE-DDS domain ID
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long: uXRCE-DDS domain ID
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category: System
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type: int32
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reboot_required: true
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default: 0
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UXRCE_DDS_KEY:
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description:
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short: uXRCE-DDS session key
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long: |
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uXRCE-DDS key, must be different from zero.
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In a single agent - multi client configuration, each client
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must have a unique session key.
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category: System
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type: int32
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reboot_required: true
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default: 1
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UXRCE_DDS_PRT:
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description:
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short: uXRCE-DDS UDP port
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long: |
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If ethernet is enabled and is the selected configuration for uXRCE-DDS,
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the selected UDP port will be set and used.
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type: int32
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min: 0
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max: 65535
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reboot_required: true
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default: 8888
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requires_ethernet: true
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UXRCE_DDS_AG_IP:
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description:
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short: uXRCE-DDS Agent IP address
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long: |
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If ethernet is enabled and is the selected configuration for uXRCE-DDS,
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the selected Agent IP address will be set and used.
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Decimal dot notation is not supported. IP address must be provided
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in int32 format. For example, 192.168.1.2 is mapped to -1062731518;
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127.0.0.1 is mapped to 2130706433.
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type: int32
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reboot_required: true
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default: 2130706433
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requires_ethernet: true
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UXRCE_DDS_PTCFG:
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description:
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short: uXRCE-DDS participant configuration
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long: |
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Set the participant configuration on the Agent's system.
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0: Use the default configuration.
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1: Restrict messages to localhost
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(use in combination with ROS_LOCALHOST_ONLY=1).
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2: Use a custom participant with the profile name "px4_participant".
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category: System
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reboot_required: true
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type: enum
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values:
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0: Default
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1: Localhost-only
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2: Custom participant
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min: 0
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max: 2
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default: 0
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UXRCE_DDS_SYNCT:
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description:
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short: Enable uXRCE-DDS timestamp synchronization
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long: When enabled, uxrce_dds_client will synchronize the timestamps
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of the incoming and outgoing messages measuring the offset
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between the Agent OS time and the PX4 time.
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type: boolean
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category: System
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reboot_required: true
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default: 1
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UXRCE_DDS_SYNCC:
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description:
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short: Enable uXRCE-DDS system clock synchronization
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long: When enabled along with UXRCE_DDS_SYNCT, uxrce_dds_client will
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set the system clock using the agents UTC timestamp.
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type: boolean
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category: System
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reboot_required: true
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default: 0
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UXRCE_DDS_TX_TO:
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description:
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short: TX rate timeout configuration
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long: |
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Specifies after how many seconds without sending data the DDS connection is reestablished.
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A value less than one disables the TX rate timeout.
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type: int32
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category: System
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reboot_required: true
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default: 3
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unit: s
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UXRCE_DDS_RX_TO:
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description:
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short: RX rate timeout configuration
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long: |
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Specifies after how many seconds without receiving data the DDS connection is reestablished.
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A value less than one disables the RX rate timeout.
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type: int32
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category: System
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reboot_required: true
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default: -1
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unit: s
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