From 9e5420bbbd0c3fe2001ae4a1ebe6c6c3abec830c Mon Sep 17 00:00:00 2001 From: Beniamino Pozzan Date: Thu, 20 Apr 2023 18:06:06 -0700 Subject: [PATCH] microdds_client: rename to uxrce_dds_client | | old version | new version (second proposal) | |-|-|-| | module name | `microdds_client` | **`uxrce_dds_client`** | | strings / comments about the module | non consistent | **UXRCE-DDS Client** | | menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** | | module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** | | module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` | | module class name | `MicroddsClient` | **`UxrceddsClient`** | |`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** | | main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**| | environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** | Signed-off-by: Beniamino Pozzan --- .gitmodules | 4 +- Makefile | 2 +- ROMFS/px4fmu_common/init.d-posix/rcS | 20 +++--- Tools/astyle/files_to_check_code_style.sh | 2 +- Tools/convert_ip.py | 2 +- boards/ark/fmu-v6x/default.px4board | 2 +- boards/beaglebone/blue/default.px4board | 2 +- boards/cuav/nora/default.px4board | 2 +- boards/cuav/x7pro/default.px4board | 2 +- boards/cubepilot/cubeorange/default.px4board | 2 +- .../cubepilot/cubeorangeplus/default.px4board | 2 +- boards/emlid/navio2/default.px4board | 2 +- boards/holybro/durandal-v1/default.px4board | 2 +- boards/holybro/kakutef7/default.px4board | 2 +- boards/holybro/kakuteh7/default.px4board | 2 +- boards/holybro/kakuteh7v2/default.px4board | 2 +- boards/matek/h743-mini/default.px4board | 2 +- boards/matek/h743-slim/default.px4board | 2 +- boards/matek/h743/default.px4board | 2 +- boards/modalai/fc-v1/default.px4board | 2 +- boards/modalai/fc-v2/default.px4board | 2 +- boards/mro/ctrl-zero-classic/default.px4board | 2 +- boards/mro/ctrl-zero-h7-oem/default.px4board | 2 +- boards/mro/ctrl-zero-h7/default.px4board | 2 +- boards/mro/pixracerpro/default.px4board | 2 +- boards/nxp/fmuk66-e/default.px4board | 2 +- boards/nxp/fmuk66-v3/default.px4board | 2 +- boards/nxp/fmurt1062-v1/default.px4board | 2 +- boards/omnibus/f4sd/default.px4board | 2 +- boards/px4/fmu-v3/default.px4board | 2 +- boards/px4/fmu-v4/default.px4board | 2 +- boards/px4/fmu-v4pro/default.px4board | 2 +- boards/px4/fmu-v5/default.px4board | 2 +- boards/px4/fmu-v5/uavcanv0periph.px4board | 2 +- boards/px4/fmu-v5x/default.px4board | 2 +- boards/px4/fmu-v6c/default.px4board | 2 +- boards/px4/fmu-v6u/default.px4board | 2 +- boards/px4/fmu-v6x/default.px4board | 2 +- boards/px4/sitl/default.px4board | 2 +- .../smartap-airlink/default.px4board | 2 +- boards/spracing/h7extreme/default.px4board | 2 +- src/modules/microdds_client/Kconfig | 5 -- .../CMakeLists.txt | 10 +-- src/modules/uxrce_dds_client/Kconfig | 5 ++ .../Micro-XRCE-DDS-Client | 0 .../dds_topics.h.em | 0 .../dds_topics.yaml | 2 +- .../generate_dds_topics.py | 2 +- .../module.yaml | 38 +++++------ .../utilities.hpp | 0 .../uxrce_dds_client.cpp} | 64 +++++++++---------- .../uxrce_dds_client.h} | 15 ++--- 52 files changed, 121 insertions(+), 122 deletions(-) delete mode 100644 src/modules/microdds_client/Kconfig rename src/modules/{microdds_client => uxrce_dds_client}/CMakeLists.txt (96%) create mode 100644 src/modules/uxrce_dds_client/Kconfig rename src/modules/{microdds_client => uxrce_dds_client}/Micro-XRCE-DDS-Client (100%) rename src/modules/{microdds_client => uxrce_dds_client}/dds_topics.h.em (100%) rename src/modules/{microdds_client => uxrce_dds_client}/dds_topics.yaml (96%) rename src/modules/{microdds_client => uxrce_dds_client}/generate_dds_topics.py (98%) rename src/modules/{microdds_client => uxrce_dds_client}/module.yaml (67%) rename src/modules/{microdds_client => uxrce_dds_client}/utilities.hpp (100%) rename src/modules/{microdds_client/microdds_client.cpp => uxrce_dds_client/uxrce_dds_client.cpp} (92%) rename src/modules/{microdds_client/microdds_client.h => uxrce_dds_client/uxrce_dds_client.h} (89%) diff --git a/.gitmodules b/.gitmodules index 78c67073e1..78c25c2335 100644 --- a/.gitmodules +++ b/.gitmodules @@ -58,7 +58,7 @@ path = src/lib/crypto/libtommath url = https://github.com/PX4/libtommath.git branch = px4 -[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"] - path = src/modules/microdds_client/Micro-XRCE-DDS-Client +[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"] + path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client url = https://github.com/PX4/Micro-XRCE-DDS-Client.git branch = px4 diff --git a/Makefile b/Makefile index a03703ac78..53b90e3d01 100644 --- a/Makefile +++ b/Makefile @@ -483,7 +483,7 @@ shellcheck_all: validate_module_configs: @find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \ -not -path "$(SRC_DIR)/src/lib/mixer_module/*" \ - -not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \ + -not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \ -not -path "$(SRC_DIR)/src/lib/events/libevents/*" \ -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \ xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS index a49f27461e..89ea402e2b 100644 --- a/ROMFS/px4fmu_common/init.d-posix/rcS +++ b/ROMFS/px4fmu_common/init.d-posix/rcS @@ -129,7 +129,7 @@ fi # multi-instance setup # shellcheck disable=SC2154 param set MAV_SYS_ID $((px4_instance+1)) -param set XRCE_DDS_KEY $((px4_instance+1)) +param set UXRCE_DDS_KEY $((px4_instance+1)) if [ $AUTOCNF = yes ] then @@ -265,26 +265,26 @@ fi navigator start -# Try to start the microdds_client with UDP transport if module exists -microdds_ns="" +# Try to start the UXRCE-DDS Client with UDP transport if module exists +uxrce_dds_ns="" if [ "$px4_instance" -ne "0" ] then # for multi intances setup, add namespace prefix - microdds_ns="-n px4_$px4_instance" + uxrce_dds_ns="-n px4_$px4_instance" fi -if [ -n "$PX4_MICRODDS_NS" ] +if [ -n "$PX4_UXRCE_DDS_NS" ] then # Override namespace if environment variable is defined - microdds_ns="-n $PX4_MICRODDS_NS" + uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS" fi if [ -n "$ROS_DOMAIN_ID" ] then - # Match XRCE_DDS_DOM_ID with ROS_DOMAIN_ID, if defined - param set XRCE_DDS_DOM_ID $ROS_DOMAIN_ID + # Match UXRCE_DDS_DOM_ID with ROS_DOMAIN_ID, if defined + param set UXRCE_DDS_DOM_ID $ROS_DOMAIN_ID else - param set XRCE_DDS_DOM_ID 0 + param set UXRCE_DDS_DOM_ID 0 fi -microdds_client start -t udp -h 127.0.0.1 -p 8888 $microdds_ns +uxrce_dds_client start -t udp -h 127.0.0.1 -p 8888 $uxrce_dds_ns if param greater -s MNT_MODE_IN -1 then diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh index 66ad713801..6704ac262f 100755 --- a/Tools/astyle/files_to_check_code_style.sh +++ b/Tools/astyle/files_to_check_code_style.sh @@ -25,5 +25,5 @@ exec find boards msg src platforms test \ -path src/lib/crypto/monocypher -prune -o \ -path src/lib/crypto/libtomcrypt -prune -o \ -path src/lib/crypto/libtommath -prune -o \ - -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \ + -path src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client -prune -o \ -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN diff --git a/Tools/convert_ip.py b/Tools/convert_ip.py index 390c86ff92..a34b024bd9 100644 --- a/Tools/convert_ip.py +++ b/Tools/convert_ip.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 """ -Converts IP address given in decimal dot notation to int32 to be used in XRCE_DDS_0_CFG parameter +Converts IP address given in decimal dot notation to int32 to be used in UXRCE_DDS_CFG parameter and vice-versa @author: Beniamino Pozzan (beniamino.pozzan@phd.unipd.it) diff --git a/boards/ark/fmu-v6x/default.px4board b/boards/ark/fmu-v6x/default.px4board index 10c555730a..a3e46c21c0 100644 --- a/boards/ark/fmu-v6x/default.px4board +++ b/boards/ark/fmu-v6x/default.px4board @@ -60,11 +60,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y diff --git a/boards/beaglebone/blue/default.px4board b/boards/beaglebone/blue/default.px4board index 24fd8bcbea..34459e5806 100644 --- a/boards/beaglebone/blue/default.px4board +++ b/boards/beaglebone/blue/default.px4board @@ -49,7 +49,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -60,6 +59,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_DYN=y diff --git a/boards/cuav/nora/default.px4board b/boards/cuav/nora/default.px4board index 7327364f6b..f312504ee5 100644 --- a/boards/cuav/nora/default.px4board +++ b/boards/cuav/nora/default.px4board @@ -66,13 +66,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board index 07441e1289..99e831c129 100644 --- a/boards/cuav/x7pro/default.px4board +++ b/boards/cuav/x7pro/default.px4board @@ -67,13 +67,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y diff --git a/boards/cubepilot/cubeorange/default.px4board b/boards/cubepilot/cubeorange/default.px4board index 10dd9d44e8..521dd3bde8 100644 --- a/boards/cubepilot/cubeorange/default.px4board +++ b/boards/cubepilot/cubeorange/default.px4board @@ -62,11 +62,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/cubepilot/cubeorangeplus/default.px4board b/boards/cubepilot/cubeorangeplus/default.px4board index 85574a88e8..e9f6c2d005 100644 --- a/boards/cubepilot/cubeorangeplus/default.px4board +++ b/boards/cubepilot/cubeorangeplus/default.px4board @@ -62,11 +62,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/emlid/navio2/default.px4board b/boards/emlid/navio2/default.px4board index b71e01bb67..bc912f507a 100644 --- a/boards/emlid/navio2/default.px4board +++ b/boards/emlid/navio2/default.px4board @@ -51,7 +51,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -62,6 +61,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_DYN=y diff --git a/boards/holybro/durandal-v1/default.px4board b/boards/holybro/durandal-v1/default.px4board index 60da95de9f..362eaff742 100644 --- a/boards/holybro/durandal-v1/default.px4board +++ b/boards/holybro/durandal-v1/default.px4board @@ -59,13 +59,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y diff --git a/boards/holybro/kakutef7/default.px4board b/boards/holybro/kakutef7/default.px4board index f7a57720e5..6919df33f2 100644 --- a/boards/holybro/kakutef7/default.px4board +++ b/boards/holybro/kakutef7/default.px4board @@ -28,8 +28,8 @@ CONFIG_MODULES_MAVLINK=y CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_SYSTEMCMDS_PARAM=y diff --git a/boards/holybro/kakuteh7/default.px4board b/boards/holybro/kakuteh7/default.px4board index 41d69f8703..713c736d50 100644 --- a/boards/holybro/kakuteh7/default.px4board +++ b/boards/holybro/kakuteh7/default.px4board @@ -55,13 +55,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y diff --git a/boards/holybro/kakuteh7v2/default.px4board b/boards/holybro/kakuteh7v2/default.px4board index 89a6a2760c..d326a78797 100644 --- a/boards/holybro/kakuteh7v2/default.px4board +++ b/boards/holybro/kakuteh7v2/default.px4board @@ -55,13 +55,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y diff --git a/boards/matek/h743-mini/default.px4board b/boards/matek/h743-mini/default.px4board index 74c0bbedd8..64e472d770 100644 --- a/boards/matek/h743-mini/default.px4board +++ b/boards/matek/h743-mini/default.px4board @@ -45,10 +45,10 @@ CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y diff --git a/boards/matek/h743-slim/default.px4board b/boards/matek/h743-slim/default.px4board index 434dd951e9..fed4e6c1a7 100644 --- a/boards/matek/h743-slim/default.px4board +++ b/boards/matek/h743-slim/default.px4board @@ -46,10 +46,10 @@ CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y diff --git a/boards/matek/h743/default.px4board b/boards/matek/h743/default.px4board index 00f19d7b60..ce5f222229 100644 --- a/boards/matek/h743/default.px4board +++ b/boards/matek/h743/default.px4board @@ -47,10 +47,10 @@ CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y diff --git a/boards/modalai/fc-v1/default.px4board b/boards/modalai/fc-v1/default.px4board index 49407d1fe9..5999659075 100644 --- a/boards/modalai/fc-v1/default.px4board +++ b/boards/modalai/fc-v1/default.px4board @@ -65,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -74,6 +73,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board index ef805e2029..a3eb5618fa 100644 --- a/boards/modalai/fc-v2/default.px4board +++ b/boards/modalai/fc-v2/default.px4board @@ -61,13 +61,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y diff --git a/boards/mro/ctrl-zero-classic/default.px4board b/boards/mro/ctrl-zero-classic/default.px4board index 41e4e1d80c..f88c94880f 100644 --- a/boards/mro/ctrl-zero-classic/default.px4board +++ b/boards/mro/ctrl-zero-classic/default.px4board @@ -60,7 +60,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -69,6 +68,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y diff --git a/boards/mro/ctrl-zero-h7-oem/default.px4board b/boards/mro/ctrl-zero-h7-oem/default.px4board index 082020d677..549ba99b73 100644 --- a/boards/mro/ctrl-zero-h7-oem/default.px4board +++ b/boards/mro/ctrl-zero-h7-oem/default.px4board @@ -58,7 +58,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -67,6 +66,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y diff --git a/boards/mro/ctrl-zero-h7/default.px4board b/boards/mro/ctrl-zero-h7/default.px4board index 440e5136b3..c32ae10fc0 100644 --- a/boards/mro/ctrl-zero-h7/default.px4board +++ b/boards/mro/ctrl-zero-h7/default.px4board @@ -59,7 +59,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -68,6 +67,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y diff --git a/boards/mro/pixracerpro/default.px4board b/boards/mro/pixracerpro/default.px4board index 189e4039f1..d4b1d29370 100644 --- a/boards/mro/pixracerpro/default.px4board +++ b/boards/mro/pixracerpro/default.px4board @@ -58,7 +58,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -67,6 +66,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y diff --git a/boards/nxp/fmuk66-e/default.px4board b/boards/nxp/fmuk66-e/default.px4board index 9fbf2c4158..f53c438f88 100644 --- a/boards/nxp/fmuk66-e/default.px4board +++ b/boards/nxp/fmuk66-e/default.px4board @@ -63,13 +63,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_DUMPFILE=y diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board index b6caac97b5..6de1cda0d4 100644 --- a/boards/nxp/fmuk66-v3/default.px4board +++ b/boards/nxp/fmuk66-v3/default.px4board @@ -65,13 +65,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_DUMPFILE=y diff --git a/boards/nxp/fmurt1062-v1/default.px4board b/boards/nxp/fmurt1062-v1/default.px4board index 7d04b986f1..2a7791db8f 100644 --- a/boards/nxp/fmurt1062-v1/default.px4board +++ b/boards/nxp/fmurt1062-v1/default.px4board @@ -46,10 +46,10 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y diff --git a/boards/omnibus/f4sd/default.px4board b/boards/omnibus/f4sd/default.px4board index 0b5b32c1cb..35be505e44 100644 --- a/boards/omnibus/f4sd/default.px4board +++ b/boards/omnibus/f4sd/default.px4board @@ -28,10 +28,10 @@ CONFIG_MODULES_MAVLINK=y CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_PARAM=y diff --git a/boards/px4/fmu-v3/default.px4board b/boards/px4/fmu-v3/default.px4board index 0be2afd890..74c7b0385d 100644 --- a/boards/px4/fmu-v3/default.px4board +++ b/boards/px4/fmu-v3/default.px4board @@ -67,7 +67,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -76,6 +75,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/px4/fmu-v4/default.px4board b/boards/px4/fmu-v4/default.px4board index 6f0749c353..f63e0618f4 100644 --- a/boards/px4/fmu-v4/default.px4board +++ b/boards/px4/fmu-v4/default.px4board @@ -68,7 +68,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -77,6 +76,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/px4/fmu-v4pro/default.px4board b/boards/px4/fmu-v4pro/default.px4board index 3a45e28eb0..f722e649ef 100644 --- a/boards/px4/fmu-v4pro/default.px4board +++ b/boards/px4/fmu-v4pro/default.px4board @@ -64,7 +64,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -73,6 +72,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board index 72845b8a71..fe8b0759c6 100644 --- a/boards/px4/fmu-v5/default.px4board +++ b/boards/px4/fmu-v5/default.px4board @@ -71,7 +71,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -80,6 +79,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/px4/fmu-v5/uavcanv0periph.px4board b/boards/px4/fmu-v5/uavcanv0periph.px4board index 138a39e3d1..70e35abd44 100644 --- a/boards/px4/fmu-v5/uavcanv0periph.px4board +++ b/boards/px4/fmu-v5/uavcanv0periph.px4board @@ -19,12 +19,12 @@ CONFIG_MODULES_ESC_BATTERY=n CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n -CONFIG_MODULES_MICRODDS_CLIENT=n CONFIG_MODULES_ROVER_POS_CONTROL=n CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n CONFIG_MODULES_TEMPERATURE_COMPENSATION=n CONFIG_MODULES_UUV_ATT_CONTROL=n CONFIG_MODULES_UUV_POS_CONTROL=n +CONFIG_MODULES_UXRCE_DDS_CLIENT=n CONFIG_SYSTEMCMDS_BL_UPDATE=n CONFIG_SYSTEMCMDS_DUMPFILE=n CONFIG_SYSTEMCMDS_GPIO=n diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board index 9d9d7b5859..5c662fbca8 100644 --- a/boards/px4/fmu-v5x/default.px4board +++ b/boards/px4/fmu-v5x/default.px4board @@ -73,7 +73,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_PAYLOAD_DELIVERER=y CONFIG_MODULES_RC_UPDATE=y @@ -81,6 +80,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/px4/fmu-v6c/default.px4board b/boards/px4/fmu-v6c/default.px4board index edc81666ed..94957c2692 100644 --- a/boards/px4/fmu-v6c/default.px4board +++ b/boards/px4/fmu-v6c/default.px4board @@ -59,13 +59,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y diff --git a/boards/px4/fmu-v6u/default.px4board b/boards/px4/fmu-v6u/default.px4board index e63885a326..50b4f6ba3d 100644 --- a/boards/px4/fmu-v6u/default.px4board +++ b/boards/px4/fmu-v6u/default.px4board @@ -63,13 +63,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board index 21ed79d141..ba22d9296c 100644 --- a/boards/px4/fmu-v6x/default.px4board +++ b/boards/px4/fmu-v6x/default.px4board @@ -67,11 +67,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board index 5d14406816..db358c3e4d 100644 --- a/boards/px4/sitl/default.px4board +++ b/boards/px4/sitl/default.px4board @@ -36,7 +36,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_PAYLOAD_DELIVERER=y CONFIG_MODULES_RC_UPDATE=y @@ -48,6 +47,7 @@ CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y diff --git a/boards/sky-drones/smartap-airlink/default.px4board b/boards/sky-drones/smartap-airlink/default.px4board index 552d998974..c57168389c 100644 --- a/boards/sky-drones/smartap-airlink/default.px4board +++ b/boards/sky-drones/smartap-airlink/default.px4board @@ -62,13 +62,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/spracing/h7extreme/default.px4board b/boards/spracing/h7extreme/default.px4board index 9e23359080..224b11d45d 100644 --- a/boards/spracing/h7extreme/default.px4board +++ b/boards/spracing/h7extreme/default.px4board @@ -36,10 +36,10 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y diff --git a/src/modules/microdds_client/Kconfig b/src/modules/microdds_client/Kconfig deleted file mode 100644 index df77443e14..0000000000 --- a/src/modules/microdds_client/Kconfig +++ /dev/null @@ -1,5 +0,0 @@ -menuconfig MODULES_MICRODDS_CLIENT - bool "microdds_client" - default n - ---help--- - Enable support for the MicroDDS Client diff --git a/src/modules/microdds_client/CMakeLists.txt b/src/modules/uxrce_dds_client/CMakeLists.txt similarity index 96% rename from src/modules/microdds_client/CMakeLists.txt rename to src/modules/uxrce_dds_client/CMakeLists.txt index 8860267f79..2150f9456f 100644 --- a/src/modules/microdds_client/CMakeLists.txt +++ b/src/modules/uxrce_dds_client/CMakeLists.txt @@ -32,7 +32,7 @@ ############################################################################ if(${CMAKE_VERSION} VERSION_LESS "3.11") - message(WARNING "skipping microdds_client, Micro-XRCE-DDS-Client needs to be fixed to work with CMAKE_VERSION ${CMAKE_VERSION}") + message(WARNING "skipping uxrce_dds_client, Micro-XRCE-DDS-Client needs to be fixed to work with CMAKE_VERSION ${CMAKE_VERSION}") else() px4_add_git_submodule(TARGET git_micro_xrce_dds_client PATH "${CMAKE_CURRENT_LIST_DIR}/Micro-XRCE-DDS-Client") @@ -130,8 +130,8 @@ else() add_custom_target(topic_bridge_files DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h) px4_add_module( - MODULE modules__microdds_client - MAIN microdds_client + MODULE modules__uxrce_dds_client + MAIN uxrce_dds_client STACK_MAIN 9000 INCLUDES ${CMAKE_CURRENT_SOURCE_DIR} @@ -140,8 +140,8 @@ else() ${MAX_CUSTOM_OPT_LEVEL} SRCS ${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h - microdds_client.cpp - microdds_client.h + uxrce_dds_client.cpp + uxrce_dds_client.h DEPENDS microxrceddsclient libmicroxrceddsclient diff --git a/src/modules/uxrce_dds_client/Kconfig b/src/modules/uxrce_dds_client/Kconfig new file mode 100644 index 0000000000..6573e0cc0b --- /dev/null +++ b/src/modules/uxrce_dds_client/Kconfig @@ -0,0 +1,5 @@ +menuconfig MODULES_UXRCE_DDS_CLIENT + bool "uxrce_dds_client" + default n + ---help--- + Enable support for the UXRCE-DDS Client diff --git a/src/modules/microdds_client/Micro-XRCE-DDS-Client b/src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client similarity index 100% rename from src/modules/microdds_client/Micro-XRCE-DDS-Client rename to src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client diff --git a/src/modules/microdds_client/dds_topics.h.em b/src/modules/uxrce_dds_client/dds_topics.h.em similarity index 100% rename from src/modules/microdds_client/dds_topics.h.em rename to src/modules/uxrce_dds_client/dds_topics.h.em diff --git a/src/modules/microdds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml similarity index 96% rename from src/modules/microdds_client/dds_topics.yaml rename to src/modules/uxrce_dds_client/dds_topics.yaml index 4ff6393bb7..8b62f01cdb 100644 --- a/src/modules/microdds_client/dds_topics.yaml +++ b/src/modules/uxrce_dds_client/dds_topics.yaml @@ -1,6 +1,6 @@ ##### # -# This file maps all the topics that are to be used on the micro DDS client. +# This file maps all the topics that are to be used on the uXRCE-DDS client. # ##### publications: diff --git a/src/modules/microdds_client/generate_dds_topics.py b/src/modules/uxrce_dds_client/generate_dds_topics.py similarity index 98% rename from src/modules/microdds_client/generate_dds_topics.py rename to src/modules/uxrce_dds_client/generate_dds_topics.py index 8018fe22d0..75fd6dbd9c 100644 --- a/src/modules/microdds_client/generate_dds_topics.py +++ b/src/modules/uxrce_dds_client/generate_dds_topics.py @@ -53,7 +53,7 @@ parser.add_argument("-t", "--template_file", dest='template_file', type=str, help="DDS topics template file") parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str, - help="Client output dir, by default using relative path 'src/modules/microdds_client'", default=None) + help="Client output dir, by default using relative path 'src/modules/uxrce_dds_client'", default=None) if len(sys.argv) <= 1: parser.print_usage() diff --git a/src/modules/microdds_client/module.yaml b/src/modules/uxrce_dds_client/module.yaml similarity index 67% rename from src/modules/microdds_client/module.yaml rename to src/modules/uxrce_dds_client/module.yaml index 9dbca1b9ee..739ae43af1 100644 --- a/src/modules/microdds_client/module.yaml +++ b/src/modules/uxrce_dds_client/module.yaml @@ -1,36 +1,36 @@ -module_name: Micro XRCE-DDS +module_name: UXRCE-DDS Client serial_config: - command: | if [ $SERIAL_DEV != ethernet ]; then - set XRCE_DDS_ARGS "-t serial -d ${SERIAL_DEV} -b p:${BAUD_PARAM}" + set UXRCE_DDS_ARGS "-t serial -d ${SERIAL_DEV} -b p:${BAUD_PARAM}" else - set XRCE_DDS_ARGS "-t udp" + set UXRCE_DDS_ARGS "-t udp" fi - microdds_client start ${XRCE_DDS_ARGS} + uxrce_dds_client start ${UXRCE_DDS_ARGS} port_config_param: - name: XRCE_DDS_CFG - group: Micro XRCE-DDS + name: UXRCE_DDS_CFG + group: UXRCE-DDS Client supports_networking: true parameters: - - group: Micro XRCE-DDS + - group: UXRCE-DDS Client definitions: - XRCE_DDS_DOM_ID: + UXRCE_DDS_DOM_ID: description: - short: XRCE DDS domain ID - long: XRCE DDS domain ID + short: uXRCE-DDS domain ID + long: uXRCE-DDS domain ID category: System type: int32 reboot_required: true default: 0 - XRCE_DDS_KEY: + UXRCE_DDS_KEY: description: - short: XRCE DDS Session key + short: uXRCE-DDS Session key long: | - XRCE DDS key, must be different from zero. + uXRCE-DDS key, must be different from zero. In a single agent - multi client configuration, each client must have a unique session key. category: System @@ -38,11 +38,11 @@ parameters: reboot_required: true default: 1 - XRCE_DDS_PRT: + UXRCE_DDS_PRT: description: - short: Micro DDS UDP Port + short: uXRCE-DDS UDP Port long: | - If ethernet enabled and selected as configuration for micro DDS, + If ethernet enabled and selected as configuration for uXRCE-DDS, selected udp port will be set and used. type: int32 min: 0 @@ -51,11 +51,11 @@ parameters: default: 8888 requires_ethernet: true - XRCE_DDS_AG_IP: + UXRCE_DDS_AG_IP: description: - short: Micro DDS Agent IP address + short: uXRCE-DDS Agent IP address long: | - If ethernet enabled and selected as configuration for micro DDS, + If ethernet enabled and selected as configuration for uXRCE-DDS, selected Agent IP address will be set and used. Decimal dot notation is not supported. IP address must be provided in int32 format. For example, 192.168.1.2 is mapped to -1062731518; diff --git a/src/modules/microdds_client/utilities.hpp b/src/modules/uxrce_dds_client/utilities.hpp similarity index 100% rename from src/modules/microdds_client/utilities.hpp rename to src/modules/uxrce_dds_client/utilities.hpp diff --git a/src/modules/microdds_client/microdds_client.cpp b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp similarity index 92% rename from src/modules/microdds_client/microdds_client.cpp rename to src/modules/uxrce_dds_client/uxrce_dds_client.cpp index e4ee905b0a..b9f1d066e4 100644 --- a/src/modules/microdds_client/microdds_client.cpp +++ b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp @@ -35,7 +35,7 @@ #include #include -#include "microdds_client.h" +#include "uxrce_dds_client.h" #include #include @@ -47,7 +47,7 @@ #include #if defined(CONFIG_NET) || defined(__PX4_POSIX) -# define MICRODDS_CLIENT_UDP 1 +# define UXRCE_DDS_CLIENT_UDP 1 #endif #define STREAM_HISTORY 4 @@ -79,7 +79,7 @@ void on_time(uxrSession *session, int64_t current_time, int64_t received_timesta } } -MicroddsClient::MicroddsClient(Transport transport, const char *device, int baudrate, const char *agent_ip, +UxrceddsClient::UxrceddsClient(Transport transport, const char *device, int baudrate, const char *agent_ip, const char *port, bool localhost_only, bool custom_participant, const char *client_namespace) : ModuleParams(nullptr), _localhost_only(localhost_only), _custom_participant(custom_participant), @@ -120,7 +120,7 @@ MicroddsClient::MicroddsClient(Transport transport, const char *device, int baud } else if (transport == Transport::Udp) { -#if defined(MICRODDS_CLIENT_UDP) +#if defined(UXRCE_DDS_CLIENT_UDP) _transport_udp = new uxrUDPTransport(); strncpy(_port, port, PORT_MAX_LENGTH - 1); strncpy(_agent_ip, agent_ip, AGENT_IP_MAX_LENGTH - 1); @@ -141,7 +141,7 @@ MicroddsClient::MicroddsClient(Transport transport, const char *device, int baud } } -MicroddsClient::~MicroddsClient() +UxrceddsClient::~UxrceddsClient() { delete _subs; delete _pubs; @@ -157,7 +157,7 @@ MicroddsClient::~MicroddsClient() } } -void MicroddsClient::run() +void UxrceddsClient::run() { if (!_comm) { PX4_ERR("init failed"); @@ -386,7 +386,7 @@ void MicroddsClient::run() } } -int MicroddsClient::setBaudrate(int fd, unsigned baud) +int UxrceddsClient::setBaudrate(int fd, unsigned baud) { int speed; @@ -523,14 +523,14 @@ int MicroddsClient::setBaudrate(int fd, unsigned baud) return 0; } -int MicroddsClient::custom_command(int argc, char *argv[]) +int UxrceddsClient::custom_command(int argc, char *argv[]) { return print_usage("unknown command"); } -int MicroddsClient::task_spawn(int argc, char *argv[]) +int UxrceddsClient::task_spawn(int argc, char *argv[]) { - _task_id = px4_task_spawn_cmd("microdds_client", + _task_id = px4_task_spawn_cmd("uxrce_dds_client", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, PX4_STACK_ADJUSTED(10000), @@ -545,10 +545,10 @@ int MicroddsClient::task_spawn(int argc, char *argv[]) return 0; } -int MicroddsClient::print_status() +int UxrceddsClient::print_status() { PX4_INFO("Running, %s", _connected ? "connected" : "disconnected"); -#if defined(MICRODDS_CLIENT_UDP) +#if defined(UXRCE_DDS_CLIENT_UDP) if (_transport_udp != nullptr) { PX4_INFO("Using transport: udp"); @@ -571,7 +571,7 @@ int MicroddsClient::print_status() return 0; } -MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[]) +UxrceddsClient *UxrceddsClient::instantiate(int argc, char *argv[]) { bool error_flag = false; int myoptind = 1; @@ -581,7 +581,7 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[]) char port[PORT_MAX_LENGTH] = {0}; char agent_ip[AGENT_IP_MAX_LENGTH] = {0}; -#if defined(MICRODDS_CLIENT_UDP) +#if defined(UXRCE_DDS_CLIENT_UDP) Transport transport = Transport::Udp; #else Transport transport = Transport::Serial; @@ -622,7 +622,7 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[]) break; -#if defined(MICRODDS_CLIENT_UDP) +#if defined(UXRCE_DDS_CLIENT_UDP) case 'h': snprintf(agent_ip, AGENT_IP_MAX_LENGTH, "%s", myoptarg); @@ -639,7 +639,7 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[]) case 'c': custom_participant = true; break; -#endif // MICRODDS_CLIENT_UDP +#endif // UXRCE_DDS_CLIENT_UDP case 'n': client_namespace = myoptarg; @@ -656,12 +656,12 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[]) } } -#if defined(MICRODDS_CLIENT_UDP) +#if defined(UXRCE_DDS_CLIENT_UDP) if (port[0] == '\0') { - // no port specified, use XRCE_DDS_PRT + // no port specified, use UXRCE_DDS_PRT int32_t port_i = 0; - param_get(param_find("XRCE_DDS_PRT"), &port_i); + param_get(param_find("UXRCE_DDS_PRT"), &port_i); if (port_i < 0 || port_i > 65535) { PX4_ERR("port must be between 0 and 65535"); @@ -672,16 +672,16 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[]) } if (agent_ip[0] == '\0') { - // no agent ip specified, use XRCE_DDS_AG_IP + // no agent ip specified, use UXRCE_DDS_AG_IP int32_t ip_i = 0; - param_get(param_find("XRCE_DDS_AG_IP"), &ip_i); + param_get(param_find("UXRCE_DDS_AG_IP"), &ip_i); snprintf(agent_ip, AGENT_IP_MAX_LENGTH, "%u.%u.%u.%u", static_cast(((ip_i) >> 24) & 0xff), static_cast(((ip_i) >> 16) & 0xff), static_cast(((ip_i) >> 8) & 0xff), static_cast(ip_i & 0xff)); } -#endif // MICRODDS_CLIENT_UDP +#endif // UXRCE_DDS_CLIENT_UDP if (error_flag) { return nullptr; @@ -694,11 +694,11 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[]) } } - return new MicroddsClient(transport, device, baudrate, agent_ip, port, localhost_only, custom_participant, + return new UxrceddsClient(transport, device, baudrate, agent_ip, port, localhost_only, custom_participant, client_namespace); } -int MicroddsClient::print_usage(const char *reason) +int UxrceddsClient::print_usage(const char *reason) { if (reason) { PX4_WARN("%s\n", reason); @@ -707,20 +707,20 @@ int MicroddsClient::print_usage(const char *reason) PRINT_MODULE_DESCRIPTION( R"DESCR_STR( ### Description -MicroDDS Client used to communicate uORB topics with an Agent over serial or UDP. +UXRCE-DDS Client used to communicate uORB topics with an Agent over serial or UDP. ### Examples -$ microdds_client start -t serial -d /dev/ttyS3 -b 921600 -$ microdds_client start -t udp -h 127.0.0.1 -p 15555 +$ uxrce_dds_client start -t serial -d /dev/ttyS3 -b 921600 +$ uxrce_dds_client start -t udp -h 127.0.0.1 -p 15555 )DESCR_STR"); - PRINT_MODULE_USAGE_NAME("microdds_client", "system"); + PRINT_MODULE_USAGE_NAME("uxrce_dds_client", "system"); PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_PARAM_STRING('t', "udp", "serial|udp", "Transport protocol", true); PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "", "serial device", true); PRINT_MODULE_USAGE_PARAM_INT('b', 0, 0, 3000000, "Baudrate (can also be p:)", true); - PRINT_MODULE_USAGE_PARAM_STRING('h', nullptr, "", "Agent IP. If not provided, defaults to XRCE_DDS_AG_IP", true); - PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 65535, "Agent listening port. If not provided, defaults to XRCE_DDS_PRT", true); + PRINT_MODULE_USAGE_PARAM_STRING('h', nullptr, "", "Agent IP. If not provided, defaults to UXRCE_DDS_AG_IP", true); + PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 65535, "Agent listening port. If not provided, defaults to UXRCE_DDS_PRT", true); PRINT_MODULE_USAGE_PARAM_FLAG('l', "Restrict to localhost (use in combination with ROS_LOCALHOST_ONLY=1)", true); PRINT_MODULE_USAGE_PARAM_FLAG('c', "Use custom participant config (profile_name=\"px4_participant\")", true); PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, nullptr, "Client DDS namespace", true); @@ -729,7 +729,7 @@ $ microdds_client start -t udp -h 127.0.0.1 -p 15555 return 0; } -extern "C" __EXPORT int microdds_client_main(int argc, char *argv[]) +extern "C" __EXPORT int uxrce_dds_client_main(int argc, char *argv[]) { - return MicroddsClient::main(argc, argv); + return UxrceddsClient::main(argc, argv); } diff --git a/src/modules/microdds_client/microdds_client.h b/src/modules/uxrce_dds_client/uxrce_dds_client.h similarity index 89% rename from src/modules/microdds_client/microdds_client.h rename to src/modules/uxrce_dds_client/uxrce_dds_client.h index ae838dfa0b..aab381b73d 100644 --- a/src/modules/microdds_client/microdds_client.h +++ b/src/modules/uxrce_dds_client/uxrce_dds_client.h @@ -36,11 +36,11 @@ #include #include -#include +#include #include -class MicroddsClient : public ModuleBase, public ModuleParams +class UxrceddsClient : public ModuleBase, public ModuleParams { public: enum class Transport { @@ -48,16 +48,16 @@ public: Udp }; - MicroddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port, + UxrceddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port, bool localhost_only, bool custom_participant, const char *client_namespace); - ~MicroddsClient(); + ~UxrceddsClient(); /** @see ModuleBase */ static int task_spawn(int argc, char *argv[]); /** @see ModuleBase */ - static MicroddsClient *instantiate(int argc, char *argv[]); + static UxrceddsClient *instantiate(int argc, char *argv[]); /** @see ModuleBase */ static int custom_command(int argc, char *argv[]); @@ -104,8 +104,7 @@ private: Timesync _timesync{timesync_status_s::SOURCE_PROTOCOL_DDS}; DEFINE_PARAMETERS( - (ParamInt) _param_xrce_dds_dom_id, - (ParamInt) _param_xrce_key + (ParamInt) _param_xrce_dds_dom_id, + (ParamInt) _param_xrce_key ) }; -