AP_DDS: Support compile-time configurable rates for each publisher

Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
ArduPilot · Oct 24, 2024 · 72f0ecc · 72f0ecc
1 parent 92693e0
commit 72f0ecc
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Showing 2 changed files with 45 additions and 9 deletions.
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -32,31 +32,31 @@
 // Enable DDS at runtime by default
 static constexpr uint8_t ENABLED_BY_DEFAULT = 1;
 #if AP_DDS_TIME_PUB_ENABLED
-static constexpr uint16_t DELAY_TIME_TOPIC_MS = 10;
+static constexpr uint16_t DELAY_TIME_TOPIC_MS = AP_DDS_DELAY_TIME_TOPIC_MS;
 #endif // AP_DDS_TIME_PUB_ENABLED
 #if AP_DDS_BATTERY_STATE_PUB_ENABLED
-static constexpr uint16_t DELAY_BATTERY_STATE_TOPIC_MS = 1000;
+static constexpr uint16_t DELAY_BATTERY_STATE_TOPIC_MS = AP_DDS_DELAY_BATTERY_STATE_TOPIC_MS;
 #endif // AP_DDS_BATTERY_STATE_PUB_ENABLED
 #if AP_DDS_IMU_PUB_ENABLED
-static constexpr uint16_t DELAY_IMU_TOPIC_MS = 5;
+static constexpr uint16_t DELAY_IMU_TOPIC_MS = AP_DDS_DELAY_IMU_TOPIC_MS;
 #endif // AP_DDS_IMU_PUB_ENABLED
 #if AP_DDS_LOCAL_POSE_PUB_ENABLED
-static constexpr uint16_t DELAY_LOCAL_POSE_TOPIC_MS = 33;
+static constexpr uint16_t DELAY_LOCAL_POSE_TOPIC_MS = AP_DDS_DELAY_LOCAL_POSE_TOPIC_MS;
 #endif // AP_DDS_LOCAL_POSE_PUB_ENABLED
 #if AP_DDS_LOCAL_VEL_PUB_ENABLED
-static constexpr uint16_t DELAY_LOCAL_VELOCITY_TOPIC_MS = 33;
+static constexpr uint16_t DELAY_LOCAL_VELOCITY_TOPIC_MS = AP_DDS_DELAY_LOCAL_VELOCITY_TOPIC_MS;
 #endif // AP_DDS_LOCAL_VEL_PUB_ENABLED
 #if AP_DDS_AIRSPEED_PUB_ENABLED
-static constexpr uint16_t DELAY_AIRSPEED_TOPIC_MS = 33;
+static constexpr uint16_t DELAY_AIRSPEED_TOPIC_MS = AP_DDS_DELAY_AIRSPEED_TOPIC_MS;
 #endif // AP_DDS_AIRSPEED_PUB_ENABLED
 #if AP_DDS_GEOPOSE_PUB_ENABLED
-static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = 33;
+static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = AP_DDS_DELAY_GEO_POSE_TOPIC_MS;
 #endif // AP_DDS_GEOPOSE_PUB_ENABLED
 #if AP_DDS_CLOCK_PUB_ENABLED
-static constexpr uint16_t DELAY_CLOCK_TOPIC_MS = 10;
+static constexpr uint16_t DELAY_CLOCK_TOPIC_MS =AP_DDS_DELAY_CLOCK_TOPIC_MS;
 #endif // AP_DDS_CLOCK_PUB_ENABLED
 #if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
-static constexpr uint16_t DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS = 1000;
+static constexpr uint16_t DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS = AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS;
 #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
 static constexpr uint16_t DELAY_PING_MS = 500;
 

diff --git a/libraries/AP_DDS/AP_DDS_config.h b/libraries/AP_DDS/AP_DDS_config.h
@@ -26,10 +26,18 @@
 #define AP_DDS_IMU_PUB_ENABLED AP_DDS_EXPERIMENTAL_ENABLED
 #endif
 
+#ifndef AP_DDS_DELAY_IMU_TOPIC_MS
+#define AP_DDS_DELAY_IMU_TOPIC_MS 5
+#endif
+
 #ifndef AP_DDS_TIME_PUB_ENABLED
 #define AP_DDS_TIME_PUB_ENABLED 1
 #endif
 
+#ifndef AP_DDS_DELAY_TIME_TOPIC_MS
+#define AP_DDS_DELAY_TIME_TOPIC_MS 10
+#endif
+
 #ifndef AP_DDS_NAVSATFIX_PUB_ENABLED
 #define AP_DDS_NAVSATFIX_PUB_ENABLED 1
 #endif
@@ -42,30 +50,58 @@
 #define AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED 1
 #endif
 
+#ifndef AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS
+#define AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS 1000
+#endif
+
 #ifndef AP_DDS_GEOPOSE_PUB_ENABLED
 #define AP_DDS_GEOPOSE_PUB_ENABLED 1
 #endif
 
+#ifndef AP_DDS_DELAY_GEO_POSE_TOPIC_MS
+#define AP_DDS_DELAY_GEO_POSE_TOPIC_MS 33
+#endif
+
 #ifndef AP_DDS_LOCAL_POSE_PUB_ENABLED
 #define AP_DDS_LOCAL_POSE_PUB_ENABLED 1
 #endif
 
+#ifndef AP_DDS_DELAY_LOCAL_POSE_TOPIC_MS
+#define AP_DDS_DELAY_LOCAL_POSE_TOPIC_MS 33
+#endif
+
 #ifndef AP_DDS_LOCAL_VEL_PUB_ENABLED
 #define AP_DDS_LOCAL_VEL_PUB_ENABLED 1
 #endif
 
+#ifndef AP_DDS_DELAY_LOCAL_VELOCITY_TOPIC_MS
+#define AP_DDS_DELAY_LOCAL_VELOCITY_TOPIC_MS 33
+#endif
+
 #ifndef AP_DDS_AIRSPEED_PUB_ENABLED
 #define AP_DDS_AIRSPEED_PUB_ENABLED 1
 #endif
 
+#ifndef AP_DDS_DELAY_AIRSPEED_TOPIC_MS
+#define AP_DDS_DELAY_AIRSPEED_TOPIC_MS 33
+#endif
+
 #ifndef AP_DDS_BATTERY_STATE_PUB_ENABLED
 #define AP_DDS_BATTERY_STATE_PUB_ENABLED 1
 #endif
 
+#ifndef AP_DDS_DELAY_BATTERY_STATE_TOPIC_MS
+#define AP_DDS_DELAY_BATTERY_STATE_TOPIC_MS 1000
+#endif
+
 #ifndef AP_DDS_CLOCK_PUB_ENABLED
 #define AP_DDS_CLOCK_PUB_ENABLED 1
 #endif
 
+#ifndef AP_DDS_DELAY_CLOCK_TOPIC_MS
+#define AP_DDS_DELAY_CLOCK_TOPIC_MS 10
+#endif
+
 #ifndef AP_DDS_JOY_SUB_ENABLED
 #define AP_DDS_JOY_SUB_ENABLED 1
 #endif