forked from Archive/PX4-Autopilot
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 <beniamino.pozzan@phd.unipd.it>
This commit is contained in:
parent
1d4b66fcbc
commit
9e5420bbbd
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@ -58,7 +58,7 @@
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path = src/lib/crypto/libtommath
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url = https://github.com/PX4/libtommath.git
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branch = px4
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[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
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path = src/modules/microdds_client/Micro-XRCE-DDS-Client
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[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
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path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
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url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
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branch = px4
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2
Makefile
2
Makefile
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@ -483,7 +483,7 @@ shellcheck_all:
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validate_module_configs:
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@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
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-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
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-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
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-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
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-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
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-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
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xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
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@ -129,7 +129,7 @@ fi
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# multi-instance setup
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# shellcheck disable=SC2154
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param set MAV_SYS_ID $((px4_instance+1))
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param set XRCE_DDS_KEY $((px4_instance+1))
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param set UXRCE_DDS_KEY $((px4_instance+1))
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if [ $AUTOCNF = yes ]
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then
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@ -265,26 +265,26 @@ fi
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navigator start
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# Try to start the microdds_client with UDP transport if module exists
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microdds_ns=""
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# Try to start the UXRCE-DDS Client with UDP transport if module exists
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uxrce_dds_ns=""
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if [ "$px4_instance" -ne "0" ]
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then
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# for multi intances setup, add namespace prefix
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microdds_ns="-n px4_$px4_instance"
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uxrce_dds_ns="-n px4_$px4_instance"
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fi
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if [ -n "$PX4_MICRODDS_NS" ]
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if [ -n "$PX4_UXRCE_DDS_NS" ]
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then
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# Override namespace if environment variable is defined
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microdds_ns="-n $PX4_MICRODDS_NS"
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uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
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fi
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if [ -n "$ROS_DOMAIN_ID" ]
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then
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# Match XRCE_DDS_DOM_ID with ROS_DOMAIN_ID, if defined
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param set XRCE_DDS_DOM_ID $ROS_DOMAIN_ID
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# Match UXRCE_DDS_DOM_ID with ROS_DOMAIN_ID, if defined
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param set UXRCE_DDS_DOM_ID $ROS_DOMAIN_ID
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else
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param set XRCE_DDS_DOM_ID 0
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param set UXRCE_DDS_DOM_ID 0
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fi
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microdds_client start -t udp -h 127.0.0.1 -p 8888 $microdds_ns
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uxrce_dds_client start -t udp -h 127.0.0.1 -p 8888 $uxrce_dds_ns
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if param greater -s MNT_MODE_IN -1
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then
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@ -25,5 +25,5 @@ exec find boards msg src platforms test \
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-path src/lib/crypto/monocypher -prune -o \
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-path src/lib/crypto/libtomcrypt -prune -o \
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-path src/lib/crypto/libtommath -prune -o \
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-path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
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-path src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client -prune -o \
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-type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
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@ -1,7 +1,7 @@
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#!/usr/bin/env python3
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"""
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Converts IP address given in decimal dot notation to int32 to be used in XRCE_DDS_0_CFG parameter
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Converts IP address given in decimal dot notation to int32 to be used in UXRCE_DDS_CFG parameter
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and vice-versa
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@author: Beniamino Pozzan (beniamino.pozzan@phd.unipd.it)
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@ -60,11 +60,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_ROVER_POS_CONTROL=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BSONDUMP=y
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@ -49,7 +49,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_ROVER_POS_CONTROL=y
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@ -60,6 +59,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UUV_ATT_CONTROL=y
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CONFIG_MODULES_UUV_POS_CONTROL=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_BSONDUMP=y
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CONFIG_SYSTEMCMDS_DYN=y
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@ -66,13 +66,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_ROVER_POS_CONTROL=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BSONDUMP=y
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@ -67,13 +67,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_ROVER_POS_CONTROL=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BSONDUMP=y
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@ -62,11 +62,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BL_UPDATE=y
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@ -62,11 +62,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BL_UPDATE=y
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@ -51,7 +51,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_ROVER_POS_CONTROL=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UUV_ATT_CONTROL=y
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CONFIG_MODULES_UUV_POS_CONTROL=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_BSONDUMP=y
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CONFIG_SYSTEMCMDS_DYN=y
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@ -59,13 +59,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_ROVER_POS_CONTROL=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BSONDUMP=y
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@ -28,8 +28,8 @@ CONFIG_MODULES_MAVLINK=y
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CONFIG_MODULES_MC_ATT_CONTROL=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_SYSTEMCMDS_PARAM=y
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@ -55,13 +55,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_ROVER_POS_CONTROL=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BSONDUMP=y
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@ -55,13 +55,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_ROVER_POS_CONTROL=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_DMESG=y
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@ -45,10 +45,10 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_DMESG=y
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@ -46,10 +46,10 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_DMESG=y
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@ -47,10 +47,10 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_DMESG=y
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@ -65,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_ROVER_POS_CONTROL=y
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@ -74,6 +73,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UUV_ATT_CONTROL=y
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CONFIG_MODULES_UUV_POS_CONTROL=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BL_UPDATE=y
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@ -61,13 +61,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_ROVER_POS_CONTROL=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BSONDUMP=y
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@ -60,7 +60,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MICRODDS_CLIENT=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_ROVER_POS_CONTROL=y
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@ -69,6 +68,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UUV_ATT_CONTROL=y
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CONFIG_MODULES_UUV_POS_CONTROL=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -1,5 +0,0 @@
|
|||
menuconfig MODULES_MICRODDS_CLIENT
|
||||
bool "microdds_client"
|
||||
default n
|
||||
---help---
|
||||
Enable support for the MicroDDS Client
|
|
@ -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
|
|
@ -0,0 +1,5 @@
|
|||
menuconfig MODULES_UXRCE_DDS_CLIENT
|
||||
bool "uxrce_dds_client"
|
||||
default n
|
||||
---help---
|
||||
Enable support for the UXRCE-DDS Client
|
|
@ -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:
|
|
@ -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()
|
|
@ -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;
|
|
@ -35,7 +35,7 @@
|
|||
#include <px4_platform_common/cli.h>
|
||||
#include <px4_platform_common/posix.h>
|
||||
|
||||
#include "microdds_client.h"
|
||||
#include "uxrce_dds_client.h"
|
||||
|
||||
#include <uxr/client/client.h>
|
||||
#include <uxr/client/util/ping.h>
|
||||
|
@ -47,7 +47,7 @@
|
|||
#include <unistd.h>
|
||||
|
||||
#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<uint8_t>(((ip_i) >> 24) & 0xff),
|
||||
static_cast<uint8_t>(((ip_i) >> 16) & 0xff),
|
||||
static_cast<uint8_t>(((ip_i) >> 8) & 0xff),
|
||||
static_cast<uint8_t>(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, "<file:dev>", "serial device", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('b', 0, 0, 3000000, "Baudrate (can also be p:<param_name>)", true);
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('h', nullptr, "<IP>", "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, "<IP>", "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);
|
||||
}
|
|
@ -36,11 +36,11 @@
|
|||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
|
||||
#include <src/modules/microdds_client/dds_topics.h>
|
||||
#include <src/modules/uxrce_dds_client/dds_topics.h>
|
||||
|
||||
#include <lib/timesync/Timesync.hpp>
|
||||
|
||||
class MicroddsClient : public ModuleBase<MicroddsClient>, public ModuleParams
|
||||
class UxrceddsClient : public ModuleBase<UxrceddsClient>, 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<px4::params::XRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id,
|
||||
(ParamInt<px4::params::XRCE_DDS_KEY>) _param_xrce_key
|
||||
(ParamInt<px4::params::UXRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id,
|
||||
(ParamInt<px4::params::UXRCE_DDS_KEY>) _param_xrce_key
|
||||
)
|
||||
};
|
||||
|
Loading…
Reference in New Issue