Set the default frequency rate as a parameter

PX4 · Aug 5, 2024 · 18190c2 · 18190c2
1 parent b10d53f
commit 18190c2
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml
@@ -3,6 +3,8 @@
 # This file maps all the topics that are to be used on the uXRCE-DDS client.
 #
 #####
+default_max_rate_hz: 100
+
 publications:
 
   - topic: /fmu/out/register_ext_component_reply

diff --git a/src/modules/uxrce_dds_client/generate_dds_topics.py b/src/modules/uxrce_dds_client/generate_dds_topics.py
@@ -42,8 +42,6 @@
 import em
 import yaml
 
-DEFAULT_MAX_RATE_HZ = 100
-
 parser = argparse.ArgumentParser()
 parser.add_argument("-m", "--topic-msg-dir", dest='msgdir', type=str,
                     help="Topics message, by default using relative path 'msg/'", default="msg")
@@ -87,6 +85,11 @@
 merged_em_globals = {}
 all_type_includes = []
 
+if "default_max_rate_hz" not in msg_map:
+    msg_map["default_max_rate_hz"] = 100
+else:
+    msg_map["default_max_rate_hz"] = int(msg_map["default_max_rate_hz"])
+
 def process_message_type(msg_type):
     # eg TrajectoryWaypoint from px4_msgs::msg::TrajectoryWaypoint
     simple_base_type = msg_type['type'].split('::')[-1]
@@ -101,7 +104,7 @@ def process_message_type(msg_type):
     # topic_simple: eg vehicle_status
     msg_type['topic_simple'] = msg_type['topic'].split('/')[-1]
     if "max_rate_hz" not in msg_type:
-        msg_type["max_rate_hz"] = DEFAULT_MAX_RATE_HZ
+        msg_type["max_rate_hz"] = msg_map["default_max_rate_hz"]
     else:
         msg_type["max_rate_hz"] = int(msg_type["max_rate_hz"])