Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_DDS: Support compile-time configurable rates for each publisher 

Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
This commit is contained in:
Ryan Friedman 2024-10-19 10:52:16 -06:00 committed by Peter Barker
parent 92693e0237
commit 72f0ecc18f
2 changed files with 45 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
libraries/AP_DDS/AP_DDS_Client.cpp
View File

@ -32,31 +32,31 @@
// Enable DDS at runtime by default
static constexpr uint8_t ENABLED_BY_DEFAULT = 1;
#if AP_DDS_TIME_PUB_ENABLED
static constexpr uint16_t DELAY_TIME_TOPIC_MS = 10;
static constexpr uint16_t DELAY_TIME_TOPIC_MS = AP_DDS_DELAY_TIME_TOPIC_MS;
#endif // AP_DDS_TIME_PUB_ENABLED
#if AP_DDS_BATTERY_STATE_PUB_ENABLED
static constexpr uint16_t DELAY_BATTERY_STATE_TOPIC_MS = 1000;
static constexpr uint16_t DELAY_BATTERY_STATE_TOPIC_MS = AP_DDS_DELAY_BATTERY_STATE_TOPIC_MS;
#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED
#if AP_DDS_IMU_PUB_ENABLED
static constexpr uint16_t DELAY_IMU_TOPIC_MS = 5;
static constexpr uint16_t DELAY_IMU_TOPIC_MS = AP_DDS_DELAY_IMU_TOPIC_MS;
#endif // AP_DDS_IMU_PUB_ENABLED
#if AP_DDS_LOCAL_POSE_PUB_ENABLED
static constexpr uint16_t DELAY_LOCAL_POSE_TOPIC_MS = 33;
static constexpr uint16_t DELAY_LOCAL_POSE_TOPIC_MS = AP_DDS_DELAY_LOCAL_POSE_TOPIC_MS;
#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED
#if AP_DDS_LOCAL_VEL_PUB_ENABLED
static constexpr uint16_t DELAY_LOCAL_VELOCITY_TOPIC_MS = 33;
static constexpr uint16_t DELAY_LOCAL_VELOCITY_TOPIC_MS = AP_DDS_DELAY_LOCAL_VELOCITY_TOPIC_MS;
#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED
#if AP_DDS_AIRSPEED_PUB_ENABLED
static constexpr uint16_t DELAY_AIRSPEED_TOPIC_MS = 33;
static constexpr uint16_t DELAY_AIRSPEED_TOPIC_MS = AP_DDS_DELAY_AIRSPEED_TOPIC_MS;
#endif // AP_DDS_AIRSPEED_PUB_ENABLED
#if AP_DDS_GEOPOSE_PUB_ENABLED
static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = 33;
static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = AP_DDS_DELAY_GEO_POSE_TOPIC_MS;
#endif // AP_DDS_GEOPOSE_PUB_ENABLED
#if AP_DDS_CLOCK_PUB_ENABLED
static constexpr uint16_t DELAY_CLOCK_TOPIC_MS = 10;
static constexpr uint16_t DELAY_CLOCK_TOPIC_MS =AP_DDS_DELAY_CLOCK_TOPIC_MS;
#endif // AP_DDS_CLOCK_PUB_ENABLED
#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
static constexpr uint16_t DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS = 1000;
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
static constexpr uint16_t DELAY_PING_MS = 500;

36
libraries/AP_DDS/AP_DDS_config.h
View File

@ -26,10 +26,18 @@
#define AP_DDS_IMU_PUB_ENABLED AP_DDS_EXPERIMENTAL_ENABLED
#endif
#ifndef AP_DDS_DELAY_IMU_TOPIC_MS
#define AP_DDS_DELAY_IMU_TOPIC_MS 5
#endif
#ifndef AP_DDS_TIME_PUB_ENABLED
#define AP_DDS_TIME_PUB_ENABLED 1
#endif
#ifndef AP_DDS_DELAY_TIME_TOPIC_MS
#define AP_DDS_DELAY_TIME_TOPIC_MS 10
#endif
#ifndef AP_DDS_NAVSATFIX_PUB_ENABLED
#define AP_DDS_NAVSATFIX_PUB_ENABLED 1
#endif
@ -42,30 +50,58 @@
#define AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED 1
#endif
#ifndef AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS
#define AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS 1000
#endif
#ifndef AP_DDS_GEOPOSE_PUB_ENABLED
#define AP_DDS_GEOPOSE_PUB_ENABLED 1
#endif
#ifndef AP_DDS_DELAY_GEO_POSE_TOPIC_MS
#define AP_DDS_DELAY_GEO_POSE_TOPIC_MS 33
#endif
#ifndef AP_DDS_LOCAL_POSE_PUB_ENABLED
#define AP_DDS_LOCAL_POSE_PUB_ENABLED 1
#endif
#ifndef AP_DDS_DELAY_LOCAL_POSE_TOPIC_MS
#define AP_DDS_DELAY_LOCAL_POSE_TOPIC_MS 33
#endif
#ifndef AP_DDS_LOCAL_VEL_PUB_ENABLED
#define AP_DDS_LOCAL_VEL_PUB_ENABLED 1
#endif
#ifndef AP_DDS_DELAY_LOCAL_VELOCITY_TOPIC_MS
#define AP_DDS_DELAY_LOCAL_VELOCITY_TOPIC_MS 33
#endif
#ifndef AP_DDS_AIRSPEED_PUB_ENABLED
#define AP_DDS_AIRSPEED_PUB_ENABLED 1
#endif
#ifndef AP_DDS_DELAY_AIRSPEED_TOPIC_MS
#define AP_DDS_DELAY_AIRSPEED_TOPIC_MS 33
#endif
#ifndef AP_DDS_BATTERY_STATE_PUB_ENABLED
#define AP_DDS_BATTERY_STATE_PUB_ENABLED 1
#endif
#ifndef AP_DDS_DELAY_BATTERY_STATE_TOPIC_MS
#define AP_DDS_DELAY_BATTERY_STATE_TOPIC_MS 1000
#endif
#ifndef AP_DDS_CLOCK_PUB_ENABLED
#define AP_DDS_CLOCK_PUB_ENABLED 1
#endif
#ifndef AP_DDS_DELAY_CLOCK_TOPIC_MS
#define AP_DDS_DELAY_CLOCK_TOPIC_MS 10
#endif
#ifndef AP_DDS_JOY_SUB_ENABLED
#define AP_DDS_JOY_SUB_ENABLED 1
#endif