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31 lines
1.7 KiB
Markdown
31 lines
1.7 KiB
Markdown
# uORB Publication/Subscription Graph
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This page provides a uORB publication/subscription graph that shows the communication between modules.
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It is based on information that is extracted directly from the source code.
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Usage instructions are provided [below](#graph-properties).
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<iframe :src="withBase('/middleware/index.html')" frameborder="0" width="1300" height="1450px" style="text-align: center; margin-left: 0px; margin-right: 0px;"></iframe>
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<script setup>
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import { withBase } from 'vitepress';
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</script>
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## Graph Properties
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The graph has the following properties:
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- Modules are shown in gray with rounded corners while topics are displayed as coloured rectangular boxes.
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- Associated modules and topics are connected by lines.
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Dashed lines indicate that the module publishes the topic, solid lines indicate that the module subscribes to the topic, while dot-dashed lines indicate that the module both publishes and subscribes to the topic.
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- Some modules and topics are excluded:
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- Topics that are subscribed/published by many modules: `parameter_update`, `mavlink_log` and `log_message`.
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- The set of logged topics.
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- Topics that have no subscriber or no publisher.
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- Modules in **src/examples**.
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- Hovering over a module/topic highlights all its connections.
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- Double-clicking on a topic opens its message definition.
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- Make sure your browser window is wide enough to display the full graph (the sidebar menu can be hidden with the icon in the top-left corner).
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You can also zoom the image.
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- The _Preset_ selection list allows you to refine the list of modules that are shown.
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- The _Search_ box can be used to find particular modules/topics (topics that are not selected by the search are greyed-out).
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