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uxrce_client: add option to set polling rate limit per topic

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This commit is contained in:
GuillaumeLaine
2025-05-23 12:38:28 +02:00
committed by Silvan Fuhrer
parent 8c6d7235e4
commit 238dffcd1b
1 changed files with 4 additions and 2 deletions
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src/modules/uxrce_dds_client/dds_topics.h.em
+4 -2
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@@ -30,7 +30,7 @@ import os
#include <uORB/topics/@(include).h> #include <uORB/topics/@(include).h>
@[end for]@ @[end for]@
#define UXRCE_DEFAULT_POLL_RATE 10 #define UXRCE_DEFAULT_POLL_INTERVAL_MS 10
typedef bool (*UcdrSerializeMethod)(const void* data, ucdrBuffer& buf, int64_t time_offset); typedef bool (*UcdrSerializeMethod)(const void* data, ucdrBuffer& buf, int64_t time_offset);
@@ -66,6 +66,7 @@ struct SendSubscription {
uint32_t message_version; uint32_t message_version;
uint32_t topic_size; uint32_t topic_size;
UcdrSerializeMethod ucdr_serialize_method; UcdrSerializeMethod ucdr_serialize_method;
uint64_t publish_interval_ms;
}; };
// Subscribers for messages to send // Subscribers for messages to send
@@ -79,6 +80,7 @@ struct SendTopicsSubs {
get_message_version<@(pub['simple_base_type'])_s>(), get_message_version<@(pub['simple_base_type'])_s>(),
ucdr_topic_size_@(pub['simple_base_type'])(), ucdr_topic_size_@(pub['simple_base_type'])(),
&ucdr_serialize_@(pub['simple_base_type']), &ucdr_serialize_@(pub['simple_base_type']),
static_cast<uint64_t>((@(pub.get('rate_limit', 0)) > 0) ? (1e3 / @(pub.get('rate_limit', 1e3))) : UXRCE_DEFAULT_POLL_INTERVAL_MS),
}, },
@[ end for]@ @[ end for]@
}; };
@@ -98,7 +100,7 @@ bool SendTopicsSubs::init(uxrSession *session, uxrStreamId reliable_out_stream_i
if (fds[idx].events == 0) { if (fds[idx].events == 0) {
fds[idx].fd = orb_subscribe(send_subscriptions[idx].orb_meta); fds[idx].fd = orb_subscribe(send_subscriptions[idx].orb_meta);
fds[idx].events = POLLIN; fds[idx].events = POLLIN;
orb_set_interval(fds[idx].fd, UXRCE_DEFAULT_POLL_RATE); orb_set_interval(fds[idx].fd, send_subscriptions[idx].publish_interval_ms);
} }
if (!create_data_writer(session, reliable_out_stream_id, participant_id, static_cast<ORB_ID>(send_subscriptions[idx].orb_meta->o_id), client_namespace, send_subscriptions[idx].topic, if (!create_data_writer(session, reliable_out_stream_id, participant_id, static_cast<ORB_ID>(send_subscriptions[idx].orb_meta->o_id), client_namespace, send_subscriptions[idx].topic,