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Update micro-CDR to latest and fix API usage (#9651)

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* uorb_microcdr: msg.cpp.template: update API for how the buffer length is obtained
* micrortps_bridge: CMakeLists: temporarily deactivate check endianness option
This commit is contained in:
Nuno Marques
2018-07-12 23:04:15 +01:00
committed by Daniel Agar
parent 72de9a901d
commit 83fd5a5fd1
12 changed files with 57 additions and 60 deletions
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24
msg/templates/uorb_microcdr/microRTPS_client.cpp.template
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@@ -61,7 +61,7 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
#include <ctime>
#include <pthread.h>
#include <microcdr/microCdr.h>
#include <microcdr/microcdr.h>
#include <px4_time.h>
#include <uORB/uORB.h>
@@ -90,13 +90,10 @@ void* send(void* /*unused*/)
orb_set_interval(fds[@(idx)], _options.update_time_ms);
@[end for]@
// microBuffer to serialized using the user defined buffer
struct microBuffer microBufferWriter;
// MicroBuffer to serialized using the user defined buffer
MicroBuffer MicroBufferWriter;
header_length=transport_node->get_header_length();
initStaticAlignedBuffer(&data_buffer[header_length], BUFFER_SIZE-header_length, &microBufferWriter);
// microCDR structs for managing the microBuffer
struct microCDR microCDRWriter;
initMicroCDR(&microCDRWriter, &microBufferWriter);
init_micro_buffer(&MicroBufferWriter, (uint8_t*)&data_buffer[header_length], BUFFER_SIZE - header_length);
struct timespec begin;
px4_clock_gettime(CLOCK_REALTIME, &begin);
@@ -113,7 +110,7 @@ void* send(void* /*unused*/)
// copy raw data into local buffer
if (orb_copy(ORB_ID(@(topic)), fds[@(idx)], &data) == 0) {
/* payload is shifted by header length to make room for header*/
serialize_@(topic)(&data, &data_buffer[header_length], &length, &microCDRWriter);
serialize_@(topic)(&MicroBufferWriter, &data, &data_buffer[header_length], &length);
if (0 < (read = transport_node->write((char)@(message_id(topic)), data_buffer, length)))
{
@@ -167,12 +164,9 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
orb_advert_t @(topic)_pub = nullptr;
@[end for]@
// microBuffer to deserialized using the user defined buffer
struct microBuffer microBufferReader;
initDeserializedAlignedBuffer(data_buffer, BUFFER_SIZE, &microBufferReader);
// microCDR structs for managing the microBuffer
struct microCDR microCDRReader;
initMicroCDR(&microCDRReader, &microBufferReader);
// MicroBuffer to deserialized using the user defined buffer
MicroBuffer MicroBufferReader;
init_micro_buffer(&MicroBufferReader, (uint8_t*)data_buffer, BUFFER_SIZE);
@[end if]@
px4_clock_gettime(CLOCK_REALTIME, &begin);
@@ -195,7 +189,7 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
@[for topic in recv_topics]@
case @(message_id(topic)):
{
deserialize_@(topic)(&@(topic)_data, data_buffer, &microCDRReader);
deserialize_@(topic)(&MicroBufferReader, &@(topic)_data, data_buffer);
if (!@(topic)_pub) {
@(topic)_pub = orb_advertise(ORB_ID(@(topic)), &@(topic)_data);
} else {