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Reduce memory used by DDS client #26095

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merged 3 commits into from
Mar 12, 2024
Merged

Reduce memory used by DDS client #26095

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9ac5d85
AP_DDS: remove unused TFMessage variable
srmainwaring Jan 29, 2024
ffed41e
AP_DDS: use microxrcedds_gen default-container-prealloc-size
srmainwaring Jan 29, 2024
0c47d0a
AP_DDS: use msg_prefix in GCS_SEND_TEXT
srmainwaring Jan 29, 2024
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10 changes: 5 additions & 5 deletions libraries/AP_DDS/AP_DDS_Client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -611,25 +611,25 @@ void AP_DDS_Client::main_loop(void)
//! @todo check for request to stop task
while (true) {
if (comm == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "DDS Client: transport invalid, exiting");
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s transport invalid, exiting", msg_prefix);
return;
}

// check ping
const uint64_t ping_timeout_ms{1000};
const uint8_t ping_max_attempts{10};
if (!uxr_ping_agent_attempts(comm, ping_timeout_ms, ping_max_attempts)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "DDS Client: No ping response, exiting");
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s No ping response, exiting", msg_prefix);
return;
}

// create session
if (!init_session() || !create()) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "DDS Client: Creation Requests failed");
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Creation Requests failed", msg_prefix);
return;
}
connected = true;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DDS Client: Initialization passed");
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Initialization passed", msg_prefix);

populate_static_transforms(tx_static_transforms_topic);
write_static_transforms();
Expand Down Expand Up @@ -668,7 +668,7 @@ void AP_DDS_Client::main_loop(void)

if (num_pings_missed > 2) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR,
"DDS Client: No ping response, disconnecting");
"%s No ping response, disconnecting", msg_prefix);
connected = false;
}
}
Expand Down
1 change: 0 additions & 1 deletion libraries/AP_DDS/AP_DDS_Client.h
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,6 @@ class AP_DDS_Client
static ardupilot_msgs_msg_GlobalPosition rx_global_position_control_topic;
// outgoing transforms
tf2_msgs_msg_TFMessage tx_static_transforms_topic;
tf2_msgs_msg_TFMessage tx_dynamic_transforms_topic;
// incoming transforms
static tf2_msgs_msg_TFMessage rx_dynamic_transforms_topic;

Expand Down
4 changes: 3 additions & 1 deletion libraries/AP_DDS/wscript
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,8 @@ def build(bld):
idl_include_path = bld.srcnode.make_node(str(pathlib.PurePath(gen_path, "Idl"))).abspath()

for idl in idl_files:
container_prealloc_size = 8

idl_path = pathlib.PurePath(idl.abspath())
b = idl_path.name

Expand All @@ -85,7 +87,7 @@ def build(bld):
idl_folder = idl_path.parts[-3:-1]
dst_dir = pathlib.PurePath(gen_path, "generated", *idl_folder)
gen = [bld.bldnode.find_or_declare(str(dst_dir / name)) for name in [gen_h, gen_c]]
gen_cmd = f"{bld.env.MICROXRCEDDSGEN[0]} -cs -replace -d {dst_dir} -I {idl_include_path} {idl}"
gen_cmd = f"{bld.env.MICROXRCEDDSGEN[0]} -cs -replace -default-container-prealloc-size {container_prealloc_size} -d {dst_dir} -I {idl_include_path} {idl}"
bld(
# build IDL file
source=idl,
Expand Down
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