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AP_DDS: fix reliable stream buffer size 

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
This commit is contained in:
Rhys Mainwaring 2023-07-18 21:20:03 +01:00 committed by Randy Mackay
parent e0f5e30985
commit 3bb6fb460e
2 changed files with 5 additions and 4 deletions
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4
libraries/AP_DDS/AP_DDS_Client.cpp
View File

@ -480,12 +480,12 @@ bool AP_DDS_Client::init()
} }
// setup reliable stream buffers // setup reliable stream buffers
input_reliable_stream = new uint8_t[DDS_STREAM_HISTORY*DDS_BUFFER_SIZE]; input_reliable_stream = new uint8_t[DDS_BUFFER_SIZE];
if (input_reliable_stream == nullptr) { if (input_reliable_stream == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR,"DDS Client: allocation failed"); GCS_SEND_TEXT(MAV_SEVERITY_ERROR,"DDS Client: allocation failed");
return false; return false;
} }
output_reliable_stream = new uint8_t[DDS_STREAM_HISTORY*DDS_BUFFER_SIZE]; output_reliable_stream = new uint8_t[DDS_BUFFER_SIZE];
if (output_reliable_stream == nullptr) { if (output_reliable_stream == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR,"DDS Client: allocation failed"); GCS_SEND_TEXT(MAV_SEVERITY_ERROR,"DDS Client: allocation failed");
return false; return false;

3
libraries/AP_DDS/AP_DDS_Client.h
View File

@ -24,8 +24,9 @@
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#define DDS_MTU 512
#define DDS_STREAM_HISTORY 8 #define DDS_STREAM_HISTORY 8
#define DDS_BUFFER_SIZE 512 #define DDS_BUFFER_SIZE DDS_MTU * DDS_STREAM_HISTORY
// UDP only on SITL for now // UDP only on SITL for now
#define AP_DDS_UDP_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) #define AP_DDS_UDP_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)