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uXRCE - Allow to set the uORB polling rate per subscription #23473

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uXRCE - Allow to set the uORB polling rate per subscription #23473

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b3de253
uXRCE - Allow to set the polling rate per subscription
AlexisTM Jul 31, 2024
ce14da9
Convert interval to max_rate_hz
AlexisTM Aug 1, 2024
025d124
Set the default frequency rate as a parameter
AlexisTM Aug 1, 2024
891a855
PX4 has a 1000 ratio difference with Nuttx implementation
AlexisTM Aug 1, 2024
109c09f
Change max_rate_hz to a float & set 0Hz as disabled.
AlexisTM Aug 2, 2024
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6 changes: 3 additions & 3 deletions src/modules/uxrce_dds_client/dds_topics.h.em
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Original file line number Diff line number Diff line change
Expand Up @@ -30,8 +30,6 @@ import os
#include <uORB/topics/@(include).h>
@[end for]@

#define UXRCE_DEFAULT_POLL_RATE 10

typedef bool (*UcdrSerializeMethod)(const void* data, ucdrBuffer& buf, int64_t time_offset);

static constexpr int max_topic_size = 512;
Expand All @@ -46,6 +44,7 @@ struct SendSubscription {
const char* topic;
uint32_t topic_size;
UcdrSerializeMethod ucdr_serialize_method;
float max_rate_hz;
};

// Subscribers for messages to send
Expand All @@ -58,6 +57,7 @@ struct SendTopicsSubs {
"@(pub['topic'])",
ucdr_topic_size_@(pub['simple_base_type'])(),
&ucdr_serialize_@(pub['simple_base_type']),
@(pub['max_rate_hz']),
},
@[ end for]@
};
Expand All @@ -75,7 +75,7 @@ void SendTopicsSubs::init() {
for (unsigned idx = 0; idx < sizeof(send_subscriptions)/sizeof(send_subscriptions[0]); ++idx) {
fds[idx].fd = orb_subscribe(send_subscriptions[idx].orb_meta);
fds[idx].events = POLLIN;
orb_set_interval(fds[idx].fd, UXRCE_DEFAULT_POLL_RATE);
orb_set_interval(fds[idx].fd, send_subscriptions[idx].max_rate_hz > 0 ? 1000 / send_subscriptions[idx].max_rate_hz : 100);
}
}

Expand Down
3 changes: 3 additions & 0 deletions src/modules/uxrce_dds_client/dds_topics.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,8 @@
# This file maps all the topics that are to be used on the uXRCE-DDS client.
#
#####
default_max_rate_hz: 100.0

publications:

- topic: /fmu/out/register_ext_component_reply
Expand Down Expand Up @@ -37,6 +39,7 @@ publications:

- topic: /fmu/out/sensor_combined
type: px4_msgs::msg::SensorCombined
max_rate_hz: 1000.0

- topic: /fmu/out/timesync_status
type: px4_msgs::msg::TimesyncStatus
Expand Down
11 changes: 11 additions & 0 deletions src/modules/uxrce_dds_client/generate_dds_topics.py
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,11 @@
merged_em_globals = {}
all_type_includes = []

if 'default_max_rate_hz' not in msg_map:
msg_map['default_max_rate_hz'] = 100.0
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]
Expand All @@ -98,12 +103,18 @@ def process_message_type(msg_type):
msg_type['dds_type'] = msg_type['type'].replace("::msg::", "::msg::dds_::") + "_"
# 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'] = msg_map['default_max_rate_hz']
else:
msg_type['max_rate_hz'] = float(msg_type['max_rate_hz'])

pubs_not_empty = msg_map['publications'] is not None
if pubs_not_empty:
for p in msg_map['publications']:
process_message_type(p)

# Remove disabled publications
msg_map['publications'] = list(filter(lambda x: x['max_rate_hz'] > 0, msg_map['publications']))
merged_em_globals['publications'] = msg_map['publications'] if pubs_not_empty else []

subs_not_empty = msg_map['subscriptions'] is not None
Expand Down
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