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microRTPS: client: dynamically allocate the uORB pub/subs

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This commit is contained in:
TSC21
2020-07-29 14:53:48 +01:00
committed by Nuno Marques
parent 398f104918
commit 0b41aa3ecd
1 changed files with 9 additions and 5 deletions
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msg/templates/uorb_microcdr/microRTPS_client.cpp.em
+9 -5
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@@ -110,7 +110,7 @@ void* send(void* /*unused*/)
int loop = 0, read = 0;
uint32_t length = 0;
size_t header_length = 0;
struct SendTopicsSubs subs;
SendTopicsSubs *subs = new SendTopicsSubs();
// ucdrBuffer to serialize using the user defined buffer
ucdrBuffer writer;
@@ -125,7 +125,7 @@ void* send(void* /*unused*/)
@[for idx, topic in enumerate(send_topics)]@
{
@(send_base_types[idx])_s @(topic)_data;
if (subs.@(topic)_sub.update(&@(topic)_data)) {
if (subs->@(topic)_sub.update(&@(topic)_data)) {
@[if topic == 'Timesync' or topic == 'timesync']@
if(@(topic)_data.sys_id == 0 && @(topic)_data.seq != last_remote_msg_seq && @(topic)_data.tc1 == 0) {
last_remote_msg_seq = @(topic)_data.seq;
@@ -161,6 +161,8 @@ void* send(void* /*unused*/)
PX4_INFO("SENT: %" PRIu64 " messages in %d LOOPS, %" PRIu64 " bytes in %.03f seconds - %.02fKB/s",
sent, loop, total_sent, elapsed_secs, total_sent / (1e3 * elapsed_secs));
delete subs;
return nullptr;
}
@@ -183,11 +185,10 @@ static int launch_send_thread(pthread_t &sender_thread)
void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64_t &received, int &loop)
{
@[if recv_topics]@
char data_buffer[BUFFER_SIZE] = {};
int read = 0;
uint8_t topic_ID = 255;
struct RcvTopicsPubs pubs;
RcvTopicsPubs *pubs = new RcvTopicsPubs();
// ucdrBuffer to deserialize using the user defined buffer
ucdrBuffer reader;
@@ -216,7 +217,7 @@ void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64
{
@(receive_base_types[idx])_s @(topic)_data;
deserialize_@(receive_base_types[idx])(&reader, &@(topic)_data, data_buffer);
pubs.@(topic)_pub.publish(@(topic)_data);
pubs->@(topic)_pub.publish(@(topic)_data);
++received;
}
break;
@@ -234,6 +235,9 @@ void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64
px4_usleep(_options.sleep_ms * 1000);
++loop;
}
@[if recv_topics]@
delete pubs;
@[end if]@
@[if send_topics]@
_should_exit_task = true;
pthread_join(sender_thread, nullptr);