mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-10 14:51:15 +08:00
Matthias Grob
2bc04f91f8
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Note: Some files are autogenerated and I did not yet go through each source of generation to fix it there. Instead I adjusted the filter to only exclude those such that we can fix things in steps.
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uORB Publication/Subscription Graph
This page provides a uORB publication/subscription graph that shows the communication between modules. It is based on information that is extracted directly from the source code. Usage instructions are provided below.
<script setup> import { withBase } from 'vitepress'; </script>Graph Properties
The graph has the following properties:
- Modules are shown in gray with rounded corners while topics are displayed as coloured rectangular boxes.
- Associated modules and topics are connected by lines. Dashed lines indicate that the module publishes the topic, solid lines indicate that the module subscribes to the topic, while dot-dashed lines indicate that the module both publishes and subscribes to the topic.
- Some modules and topics are excluded:
- Topics that are subscribed/published by many modules:
parameter_update,mavlink_logandlog_message. - The set of logged topics.
- Topics that have no subscriber or no publisher.
- Modules in src/examples.
- Topics that are subscribed/published by many modules:
- Hovering over a module/topic highlights all its connections.
- Double-clicking on a topic opens its message definition.
- Make sure your browser window is wide enough to display the full graph (the sidebar menu can be hidden with the icon in the top-left corner). You can also zoom the image.
- The Preset selection list allows you to refine the list of modules that are shown.
- The Search box can be used to find particular modules/topics (topics that are not selected by the search are greyed-out).