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AP_DDS: configuration fixes

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- Resolve variable may be uninitialised error when compiling for ESP32.
- Exclude definition of clock_gettime for HAL_BOARD_ESP32
- Use #if not #ifdef for AP_DDS_GOAL_PUB_ENABLED
- Format #endif AP_DDS_GOAL_PUB_ENABLED
- Use #if not #ifdef for AP_DDS_STATUS_PUB_ENABLED
- Enclose rx_dynamic_transforms_topic declaration in #if ... #endif
- Enclose quaternion initializer in #if ... #endif
- AP_DDS_GOAL_PUB_ENABLED must also have AP_SCRIPTING_ENABLED

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

AP_DDS: configuration fixes

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
This commit is contained in:
Rhys Mainwaring 2025-01-04 22:37:06 +00:00 committed by Thomas Watson
parent 8d4d575be9
commit 4abee61b1a
3 changed files with 22 additions and 18 deletions
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28
libraries/AP_DDS/AP_DDS_Client.cpp
View File

@ -68,9 +68,9 @@ static constexpr uint16_t DELAY_AIRSPEED_TOPIC_MS = AP_DDS_DELAY_AIRSPEED_TOPIC_
#if AP_DDS_GEOPOSE_PUB_ENABLED #if AP_DDS_GEOPOSE_PUB_ENABLED
static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = AP_DDS_DELAY_GEO_POSE_TOPIC_MS; static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = AP_DDS_DELAY_GEO_POSE_TOPIC_MS;
#endif // AP_DDS_GEOPOSE_PUB_ENABLED #endif // AP_DDS_GEOPOSE_PUB_ENABLED
#if AP_DDS_GOAL_PUB_ENABLED #if AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
static constexpr uint16_t DELAY_GOAL_TOPIC_MS = AP_DDS_DELAY_GOAL_TOPIC_MS ; static constexpr uint16_t DELAY_GOAL_TOPIC_MS = AP_DDS_DELAY_GOAL_TOPIC_MS ;
#endif // AP_DDS_GOAL_PUB_ENABLED #endif // AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
#if AP_DDS_CLOCK_PUB_ENABLED #if AP_DDS_CLOCK_PUB_ENABLED
static constexpr uint16_t DELAY_CLOCK_TOPIC_MS =AP_DDS_DELAY_CLOCK_TOPIC_MS; static constexpr uint16_t DELAY_CLOCK_TOPIC_MS =AP_DDS_DELAY_CLOCK_TOPIC_MS;
#endif // AP_DDS_CLOCK_PUB_ENABLED #endif // AP_DDS_CLOCK_PUB_ENABLED
@ -78,7 +78,7 @@ static constexpr uint16_t DELAY_CLOCK_TOPIC_MS =AP_DDS_DELAY_CLOCK_TOPIC_MS;
static constexpr uint16_t DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS = AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS; static constexpr uint16_t DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS = AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS;
#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
static constexpr uint16_t DELAY_PING_MS = 500; static constexpr uint16_t DELAY_PING_MS = 500;
#ifdef AP_DDS_STATUS_PUB_ENABLED #if AP_DDS_STATUS_PUB_ENABLED
static constexpr uint16_t DELAY_STATUS_TOPIC_MS = AP_DDS_DELAY_STATUS_TOPIC_MS; static constexpr uint16_t DELAY_STATUS_TOPIC_MS = AP_DDS_DELAY_STATUS_TOPIC_MS;
#endif // AP_DDS_STATUS_PUB_ENABLED #endif // AP_DDS_STATUS_PUB_ENABLED
@ -88,7 +88,9 @@ static constexpr uint16_t DELAY_STATUS_TOPIC_MS = AP_DDS_DELAY_STATUS_TOPIC_MS;
#if AP_DDS_JOY_SUB_ENABLED #if AP_DDS_JOY_SUB_ENABLED
sensor_msgs_msg_Joy AP_DDS_Client::rx_joy_topic {}; sensor_msgs_msg_Joy AP_DDS_Client::rx_joy_topic {};
#endif // AP_DDS_JOY_SUB_ENABLED #endif // AP_DDS_JOY_SUB_ENABLED
#if AP_DDS_DYNAMIC_TF_SUB_ENABLED
tf2_msgs_msg_TFMessage AP_DDS_Client::rx_dynamic_transforms_topic {}; tf2_msgs_msg_TFMessage AP_DDS_Client::rx_dynamic_transforms_topic {};
#endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED
#if AP_DDS_VEL_CTRL_ENABLED #if AP_DDS_VEL_CTRL_ENABLED
geometry_msgs_msg_TwistStamped AP_DDS_Client::rx_velocity_control_topic {}; geometry_msgs_msg_TwistStamped AP_DDS_Client::rx_velocity_control_topic {};
#endif // AP_DDS_VEL_CTRL_ENABLED #endif // AP_DDS_VEL_CTRL_ENABLED
@ -162,6 +164,7 @@ const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
AP_GROUPEND AP_GROUPEND
}; };
#if AP_DDS_STATIC_TF_PUB_ENABLED | AP_DDS_LOCAL_POSE_PUB_ENABLED | AP_DDS_GEOPOSE_PUB_ENABLED | AP_DDS_IMU_PUB_ENABLED
static void initialize(geometry_msgs_msg_Quaternion& q) static void initialize(geometry_msgs_msg_Quaternion& q)
{ {
q.x = 0.0; q.x = 0.0;
@ -169,6 +172,7 @@ static void initialize(geometry_msgs_msg_Quaternion& q)
q.z = 0.0; q.z = 0.0;
q.w = 1.0; q.w = 1.0;
} }
#endif // AP_DDS_STATIC_TF_PUB_ENABLED | AP_DDS_LOCAL_POSE_PUB_ENABLED | AP_DDS_GEOPOSE_PUB_ENABLED | AP_DDS_IMU_PUB_ENABLED
AP_DDS_Client::~AP_DDS_Client() AP_DDS_Client::~AP_DDS_Client()
{ {
@ -563,7 +567,7 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg)
} }
#endif // AP_DDS_GEOPOSE_PUB_ENABLED #endif // AP_DDS_GEOPOSE_PUB_ENABLED
#if AP_DDS_GOAL_PUB_ENABLED #if AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
bool AP_DDS_Client::update_topic_goal(geographic_msgs_msg_GeoPointStamped& msg) bool AP_DDS_Client::update_topic_goal(geographic_msgs_msg_GeoPointStamped& msg)
{ {
const auto &vehicle = AP::vehicle(); const auto &vehicle = AP::vehicle();
@ -594,7 +598,7 @@ bool AP_DDS_Client::update_topic_goal(geographic_msgs_msg_GeoPointStamped& msg)
return false; return false;
} }
} }
#endif // AP_DDS_GOAL_PUB_ENABLED #endif // AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
#if AP_DDS_IMU_PUB_ENABLED #if AP_DDS_IMU_PUB_ENABLED
void AP_DDS_Client::update_topic(sensor_msgs_msg_Imu& msg) void AP_DDS_Client::update_topic(sensor_msgs_msg_Imu& msg)
@ -1006,7 +1010,7 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
// bool, string, byte_array, bool_array, integer_array, double_array and string_array // bool, string, byte_array, bool_array, integer_array, double_array and string_array
bool param_isnan = true; bool param_isnan = true;
bool param_isinf = true; bool param_isinf = true;
float param_value; float param_value = 0.0f;
switch (param.value.type) { switch (param.value.type) {
case PARAMETER_INTEGER: { case PARAMETER_INTEGER: {
param_isnan = isnan(param.value.integer_value); param_isnan = isnan(param.value.integer_value);
@ -1624,7 +1628,7 @@ void AP_DDS_Client::write_gps_global_origin_topic()
} }
#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
#if AP_DDS_GOAL_PUB_ENABLED #if AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
void AP_DDS_Client::write_goal_topic() void AP_DDS_Client::write_goal_topic()
{ {
WITH_SEMAPHORE(csem); WITH_SEMAPHORE(csem);
@ -1638,7 +1642,7 @@ void AP_DDS_Client::write_goal_topic()
} }
} }
} }
#endif // AP_DDS_GOAL_PUB_ENABLED #endif // AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
#if AP_DDS_STATUS_PUB_ENABLED #if AP_DDS_STATUS_PUB_ENABLED
void AP_DDS_Client::write_status_topic() void AP_DDS_Client::write_status_topic()
@ -1736,14 +1740,14 @@ void AP_DDS_Client::update()
write_gps_global_origin_topic(); write_gps_global_origin_topic();
} }
#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
#if AP_DDS_GOAL_PUB_ENABLED #if AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
if (cur_time_ms - last_goal_time_ms > DELAY_GOAL_TOPIC_MS) { if (cur_time_ms - last_goal_time_ms > DELAY_GOAL_TOPIC_MS) {
if (update_topic_goal(goal_topic)) { if (update_topic_goal(goal_topic)) {
write_goal_topic(); write_goal_topic();
} }
last_goal_time_ms = cur_time_ms; last_goal_time_ms = cur_time_ms;
} }
#endif // AP_DDS_GOAL_PUB_ENABLED #endif // AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
#if AP_DDS_STATUS_PUB_ENABLED #if AP_DDS_STATUS_PUB_ENABLED
if (cur_time_ms - last_status_check_time_ms > DELAY_STATUS_TOPIC_MS) { if (cur_time_ms - last_status_check_time_ms > DELAY_STATUS_TOPIC_MS) {
if (update_topic(status_topic)) { if (update_topic(status_topic)) {
@ -1756,7 +1760,7 @@ void AP_DDS_Client::update()
status_ok = uxr_run_session_time(&session, 1); status_ok = uxr_run_session_time(&session, 1);
} }
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL #if CONFIG_HAL_BOARD != HAL_BOARD_SITL && CONFIG_HAL_BOARD != HAL_BOARD_ESP32
extern "C" { extern "C" {
int clock_gettime(clockid_t clockid, struct timespec *ts); int clock_gettime(clockid_t clockid, struct timespec *ts);
} }
@ -1773,6 +1777,6 @@ int clock_gettime(clockid_t clockid, struct timespec *ts)
ts->tv_nsec = (utc_usec % 1000000ULL) * 1000UL; ts->tv_nsec = (utc_usec % 1000000ULL) * 1000UL;
return 0; return 0;
} }
#endif // CONFIG_HAL_BOARD != HAL_BOARD_SITL #endif // CONFIG_HAL_BOARD != HAL_BOARD_SITL && CONFIG_HAL_BOARD != HAL_BOARD_ESP32
#endif // AP_DDS_ENABLED #endif // AP_DDS_ENABLED

4
libraries/AP_DDS/AP_DDS_Client.h
View File

@ -114,7 +114,7 @@ private:
static void update_topic(geographic_msgs_msg_GeoPointStamped& msg); static void update_topic(geographic_msgs_msg_GeoPointStamped& msg);
# endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED # endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
#if AP_DDS_GOAL_PUB_ENABLED #if AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
geographic_msgs_msg_GeoPointStamped goal_topic; geographic_msgs_msg_GeoPointStamped goal_topic;
// The last ms timestamp AP_DDS wrote a goal message // The last ms timestamp AP_DDS wrote a goal message
uint64_t last_goal_time_ms; uint64_t last_goal_time_ms;
@ -122,7 +122,7 @@ private:
void write_goal_topic(); void write_goal_topic();
bool update_topic_goal(geographic_msgs_msg_GeoPointStamped& msg); bool update_topic_goal(geographic_msgs_msg_GeoPointStamped& msg);
geographic_msgs_msg_GeoPointStamped prev_goal_msg; geographic_msgs_msg_GeoPointStamped prev_goal_msg;
# endif // AP_DDS_GOAL_PUB_ENABLED #endif // AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
#if AP_DDS_GEOPOSE_PUB_ENABLED #if AP_DDS_GEOPOSE_PUB_ENABLED
geographic_msgs_msg_GeoPoseStamped geo_pose_topic; geographic_msgs_msg_GeoPoseStamped geo_pose_topic;

8
libraries/AP_DDS/AP_DDS_Topic_Table.h
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@ -42,9 +42,9 @@ enum class TopicIndex: uint8_t {
#if AP_DDS_GEOPOSE_PUB_ENABLED #if AP_DDS_GEOPOSE_PUB_ENABLED
GEOPOSE_PUB, GEOPOSE_PUB,
#endif // AP_DDS_GEOPOSE_PUB_ENABLED #endif // AP_DDS_GEOPOSE_PUB_ENABLED
#ifdef AP_DDS_GOAL_PUB_ENABLED #if AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
GOAL_PUB, GOAL_PUB,
#endif // AP_DDS_GOAL_PUB_ENABLED #endif // AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
#if AP_DDS_CLOCK_PUB_ENABLED #if AP_DDS_CLOCK_PUB_ENABLED
CLOCK_PUB, CLOCK_PUB,
#endif // AP_DDS_CLOCK_PUB_ENABLED #endif // AP_DDS_CLOCK_PUB_ENABLED
@ -238,7 +238,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
}, },
}, },
#endif // AP_DDS_GEOPOSE_PUB_ENABLED #endif // AP_DDS_GEOPOSE_PUB_ENABLED
#if AP_DDS_GOAL_PUB_ENABLED #if AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
{ {
.topic_id = to_underlying(TopicIndex::GOAL_PUB), .topic_id = to_underlying(TopicIndex::GOAL_PUB),
.pub_id = to_underlying(TopicIndex::GOAL_PUB), .pub_id = to_underlying(TopicIndex::GOAL_PUB),
@ -255,7 +255,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.depth = 1, .depth = 1,
}, },
}, },
#endif // AP_DDS_GOAL_PUB_ENABLED #endif // AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
#if AP_DDS_CLOCK_PUB_ENABLED #if AP_DDS_CLOCK_PUB_ENABLED
{ {
.topic_id = to_underlying(TopicIndex::CLOCK_PUB), .topic_id = to_underlying(TopicIndex::CLOCK_PUB),