Commit Graph

11 Commits

Author SHA1 Message Date
Eric Katzfey 57df7e35b2
uORB: make queue size (ORB_QUEUE_LENGTH) completely static (#22815)
Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static.

Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions.

* Made setting of uORB topic queue size in based on topic definition only
* Fixes to the ModalAI muorb implementation
* Removed libfc sensor from format checks
* msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h

---------

Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
2024-03-08 16:28:24 -05:00
Beat Küng c5101c70b3 uorb: enure message definitions don't exceed buffer lengths & increase test buffer
There were already checks at runtime, but this ensures the format is not
too long at built-time.
2023-12-05 10:42:23 +01:00
Beat Küng f513c40d62 ucdr/msg.h.em: static inline the (de-)serialization methods
to avoid multiple definitions when using them from different places.
2023-11-15 13:18:58 +01:00
Beat Küng 22acb08406 uorb: add message format compatibility check
This can be used by DDS/ROS 2 to check for matching message definitions.
2023-11-15 13:18:58 +01:00
Beat Küng 1ad5a9de08 uorb: compress format definitions
Reduces flash usage by ~16KB.

- compress formats at build-time into a single string with all formats
- then at runtime iteratively decompress using
  https://github.com/atomicobject/heatshrink
2023-11-08 00:31:26 -05:00
Peter van der Perk 019d232911 Add Zenoh pico support 2023-10-18 15:30:36 -04:00
Beat Küng d4c7ea74ef refactor uxrce_dds_client: reduce amount of generated code for SendTopicsSubs
Reduces flash usage by ~4KB for current set of topics.
2023-08-21 20:56:08 -04:00
hskrieg 64c21ad428 uorb: allow for more than 255 uORB messages
Increased size for ORB_ID from uint8_t to uint16_t

Created a type: orb_id_size_t = uint16_t.
There are still a couple of places where the size
of the ORB_ID is assumed to be less than 16-bits.
The places that I have found are commented regarding
this and can be found with a search on orb_id_size_t.
2023-08-08 10:59:34 +02:00
Daniel Agar 74130d7f71
ucdr msg template add timestamp protections
- if timestamp (or timestamp_sample) unpopulated fill it with current hrt_absolute_time()
 - if using provided timestamp don't allow it to exceed current hrt_absolute_time()
2023-03-02 09:52:53 -05:00
Hamish Willee b66e15c4b9 generate_msg_docs.py - fix path to messages 2023-02-22 09:32:05 +01:00
Daniel Agar cea185268e
msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge
- update all msgs to be directly compatible with ROS2
 - microdds_client improvements
   - timesync
   - reduced code size
   - add to most default builds if we can afford it
   - lots of other little changes
 - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
2022-10-19 19:36:47 -04:00