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AP_DDS: Add instructions for running HW test

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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
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Ryan Friedman 2023-11-21 17:46:30 -07:00 committed by Tom Pittenger
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libraries/AP_DDS/README.md
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@ -377,3 +377,40 @@ This will run the tools automatically when you commit. If there are changes, jus
pre-commit install
git commit
```
## Testing DDS on Hardware
### With Serial
The easiest way to test DDS is to make use of some boards providing two serial interfaces over USB such as the Pixhawk 6X.
The [Pixhawk6X/hwdef.dat](../AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat) file has this info.
```
SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 OTG2
```
For example, build, flash, and set up OTG2 for DDS
```bash
./waf configure --board Pixhawk6X --enable-dds
./waf plane --upload
mavproxy.py --console
param set DDS_ENABLE 1
# Check the hwdef file for which port is OTG2
param set SERIAL8_PROTOCOL 45
param set SERIAL8_BAUD 115
reboot
```
Then run the Micro ROS agent
```bash
cd /path/to/ros2_ws
source install/setup.bash
cd src/ardupilot/libraries/AP_DDS
ros2 run micro_ros_agent micro_ros_agent serial -b 115200 -r dds_xrce_profile.xml -D /dev/serial/by-id/usb-ArduPilot_Pixhawk6X_210028000151323131373139-if02
```
If connection fails, instead of running the Micro ROS agent, debug the stream
```bash
python3 -m serial.tools.miniterm /dev/serial/by-id/usb-ArduPilot_Pixhawk6X_210028000151323131373139-if02 115200 --echo --encoding hexlify
```
The same steps can be done for physical serial ports once the above works to isolate software and hardware issues.