From 72f0ecc18f2daec9bb60f6925c44a97a7bcdcca9 Mon Sep 17 00:00:00 2001
From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
Date: Sat, 19 Oct 2024 10:52:16 -0600
Subject: [PATCH] AP_DDS: Support compile-time configurable rates for each
 publisher

Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
---
 libraries/AP_DDS/AP_DDS_Client.cpp | 18 +++++++--------
 libraries/AP_DDS/AP_DDS_config.h   | 36 ++++++++++++++++++++++++++++++
 2 files changed, 45 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
index 9ba608c20290d..a3ae6506f0f3a 100644
--- 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
index 2e0d3d6264f8c..4b82ed7465d3c 100644
--- 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