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AP_DDS: add param DDS_DOMAIN_ID

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- Require reboot.
- Set DDS_DOMAIN_ID range: 0 to 232..

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
This commit is contained in:
Rhys Mainwaring 2024-06-04 18:22:20 +01:00 committed by Peter Barker
parent 8674bb84a6
commit 5919ef69cb
2 changed files with 12 additions and 2 deletions
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11
libraries/AP_DDS/AP_DDS_Client.cpp
View File

@ -74,6 +74,14 @@ const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
#endif #endif
// @Param: _DOMAIN_ID
// @DisplayName: DDS DOMAIN ID
// @Description: Set the ROS_DOMAIN_ID
// @Range: 0 232
// @RebootRequired: True
// @User: Standard
AP_GROUPINFO("_DOMAIN_ID", 4, AP_DDS_Client, domain_id, 0),
AP_GROUPEND AP_GROUPEND
}; };
@ -819,9 +827,8 @@ bool AP_DDS_Client::create()
.type = UXR_PARTICIPANT_ID .type = UXR_PARTICIPANT_ID
}; };
const char* participant_name = "ardupilot_dds"; const char* participant_name = "ardupilot_dds";
const uint16_t domain_id = 0;
const auto participant_req_id = uxr_buffer_create_participant_bin(&session, reliable_out, participant_id, const auto participant_req_id = uxr_buffer_create_participant_bin(&session, reliable_out, participant_id,
domain_id, participant_name, UXR_REPLACE); static_cast<uint16_t>(domain_id), participant_name, UXR_REPLACE);
//Participant requests //Participant requests
constexpr uint8_t nRequestsParticipant = 1; constexpr uint8_t nRequestsParticipant = 1;

3
libraries/AP_DDS/AP_DDS_Client.h
View File

@ -213,6 +213,9 @@ public:
//! @brief Parameter storage //! @brief Parameter storage
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
//! @brief ROS_DOMAIN_ID
AP_Int32 domain_id;
//! @brief Enum used to mark a topic as a data reader or writer //! @brief Enum used to mark a topic as a data reader or writer
enum class Topic_rw : uint8_t { enum class Topic_rw : uint8_t {
DataReader = 0, DataReader = 0,