uxcre_dds_client: use topic name as defined in the dds_topics.yaml to…

… register stream
PX4 · May 15, 2024 · 17916b7 · 17916b7
1 parent 293389a
commit 17916b7
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Showing 2 changed files with 15 additions and 9 deletions.
diff --git a/src/modules/uxrce_dds_client/dds_topics.h.em b/src/modules/uxrce_dds_client/dds_topics.h.em
@@ -43,6 +43,7 @@ struct SendSubscription {
 	const struct orb_metadata *orb_meta;
 	uxrObjectId data_writer;
 	const char* dds_type_name;
+	const char* topic;
 	uint32_t topic_size;
 	UcdrSerializeMethod ucdr_serialize_method;
 };
@@ -54,6 +55,7 @@ struct SendTopicsSubs {
 			{ ORB_ID(@(pub['topic_simple'])),
 			  uxr_object_id(0, UXR_INVALID_ID),
 			  "@(pub['dds_type'])",
+			  "@(pub['topic'])",
 			  ucdr_topic_size_@(pub['simple_base_type'])(),
 			  &ucdr_serialize_@(pub['simple_base_type']),
 			},
@@ -96,7 +98,7 @@ void SendTopicsSubs::update(uxrSession *session, uxrStreamId reliable_out_stream
 			orb_copy(send_subscriptions[idx].orb_meta, fds[idx].fd, &topic_data);
 			if (send_subscriptions[idx].data_writer.id == UXR_INVALID_ID) {
 				// data writer not created yet
-				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].orb_meta->o_name,
+				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,
 								   send_subscriptions[idx].dds_type_name, send_subscriptions[idx].data_writer);
 			}
 
@@ -169,7 +171,7 @@ bool RcvTopicsPubs::init(uxrSession *session, uxrStreamId reliable_out_stream_id
 @[    for idx, sub in enumerate(subscriptions + subscriptions_multi)]@
 	{
 			uint16_t queue_depth = orb_get_queue_size(ORB_ID(@(sub['simple_base_type']))) * 2; // use a bit larger queue size than internal
-			create_data_reader(session, reliable_out_stream_id, best_effort_in_stream_id, participant_id, @(idx), client_namespace, "@(sub['topic_simple'])", "@(sub['dds_type'])", queue_depth);
+			create_data_reader(session, reliable_out_stream_id, best_effort_in_stream_id, participant_id, @(idx), client_namespace, "@(sub['topic'])", "@(sub['dds_type'])", queue_depth);
 	}
 @[    end for]@
 

diff --git a/src/modules/uxrce_dds_client/utilities.hpp b/src/modules/uxrce_dds_client/utilities.hpp
@@ -23,25 +23,29 @@ uxrObjectId topic_id_from_orb(ORB_ID orb_id, uint8_t instance = 0)
 	return uxrObjectId{};
 }
 
-static bool generate_topic_name(char *topic, const char *client_namespace, const char *direction, const char *name)
+static bool generate_topic_name(char *topic_name, const char *client_namespace, const char *topic)
 {
+	if (topic[0] == '/') {
+		topic++;
+	}
+
 	if (client_namespace != nullptr) {
-		int ret = snprintf(topic, TOPIC_NAME_SIZE, "rt/%s/fmu/%s/%s", client_namespace, direction, name);
+		int ret = snprintf(topic_name, TOPIC_NAME_SIZE, "rt/%s/%s", client_namespace, topic);
 		return (ret > 0 && ret < TOPIC_NAME_SIZE);
 	}
 
-	int ret = snprintf(topic, TOPIC_NAME_SIZE, "rt/fmu/%s/%s", direction, name);
+	int ret = snprintf(topic_name, TOPIC_NAME_SIZE, "rt/%s", topic);
 	return (ret > 0 && ret < TOPIC_NAME_SIZE);
 }
 
 static bool create_data_writer(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrObjectId participant_id,
-			       ORB_ID orb_id, const char *client_namespace, const char *topic_name_simple, const char *type_name,
+			       ORB_ID orb_id, const char *client_namespace, const char *topic, const char *type_name,
 			       uxrObjectId &datawriter_id)
 {
 	// topic
 	char topic_name[TOPIC_NAME_SIZE];
 
-	if (!generate_topic_name(topic_name, client_namespace, "out", topic_name_simple)) {
+	if (!generate_topic_name(topic_name, client_namespace, topic)) {
 		PX4_ERR("topic path too long");
 		return false;
 	}
@@ -87,13 +91,13 @@ static bool create_data_writer(uxrSession *session, uxrStreamId reliable_out_str
 }
 
 static bool create_data_reader(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId input_stream_id,
-			       uxrObjectId participant_id, uint16_t index, const char *client_namespace, const char *topic_name_simple,
+			       uxrObjectId participant_id, uint16_t index, const char *client_namespace, const char *topic,
 			       const char *type_name, uint16_t queue_depth)
 {
 	// topic
 	char topic_name[TOPIC_NAME_SIZE];
 
-	if (!generate_topic_name(topic_name, client_namespace, "in", topic_name_simple)) {
+	if (!generate_topic_name(topic_name, client_namespace, topic)) {
 		PX4_ERR("topic path too long");
 		return false;
 	}