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AP_DDS: Aggregate message #25329

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merged 1 commit into from
Oct 24, 2023
Merged

AP_DDS: Aggregate message #25329

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29 changes: 5 additions & 24 deletions libraries/AP_DDS/AP_DDS_Client.cpp
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Changes LGTM. We'll be adding additional best effort streams, so I'm ok with consolidating the checks.

Original file line number Diff line number Diff line change
Expand Up @@ -512,13 +512,8 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
break;
}

if (arm_motors_request.arm) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for arming received", msg_prefix);
arm_motors_response.result = AP::arming().arm(AP_Arming::Method::DDS);
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for disarming received", msg_prefix);
arm_motors_response.result = AP::arming().disarm(AP_Arming::Method::DDS);
}
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for %sing received", msg_prefix, arm_motors_request.arm ? "arm" : "disarm");
arm_motors_response.result = arm_motors_request.arm ? AP::arming().arm(AP_Arming::Method::DDS) : AP::arming().disarm(AP_Arming::Method::DDS);

const uxrObjectId replier_id = {
.id = services[to_underlying(ServiceIndex::ARMING_MOTORS)].rep_id,
Expand All @@ -535,11 +530,7 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
}

uxr_buffer_reply(uxr_session, reliable_out, replier_id, sample_id, reply_buffer, ucdr_buffer_length(&reply_ub));
if (arm_motors_response.result) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for Arming/Disarming : SUCCESS", msg_prefix);
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for Arming/Disarming : FAIL", msg_prefix);
}
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for Arming/Disarming : %s", msg_prefix, arm_motors_response.result ? "SUCCESS" : "FAIL");
break;
}
case services[to_underlying(ServiceIndex::MODE_SWITCH)].rep_id: {
Expand Down Expand Up @@ -567,11 +558,7 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
}

uxr_buffer_reply(uxr_session, reliable_out, replier_id, sample_id, reply_buffer, ucdr_buffer_length(&reply_ub));
if (mode_switch_response.status) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for Mode Switch : SUCCESS", msg_prefix);
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for Mode Switch : FAIL", msg_prefix);
}
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for Mode Switch : %s", msg_prefix, mode_switch_response.status ? "SUCCESS" : "FAIL");
break;
}
}
Expand Down Expand Up @@ -628,12 +615,8 @@ bool AP_DDS_Client::init()

// setup reliable stream buffers
input_reliable_stream = new uint8_t[DDS_BUFFER_SIZE];
if (input_reliable_stream == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Allocation failed", msg_prefix);
return false;
}
output_reliable_stream = new uint8_t[DDS_BUFFER_SIZE];
if (output_reliable_stream == nullptr) {
if (input_reliable_stream == nullptr || output_reliable_stream == nullptr) {
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Perhaps we should be attempting to free memory here.

GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Allocation failed", msg_prefix);
return false;
}
Expand Down Expand Up @@ -971,5 +954,3 @@ int clock_gettime(clockid_t clockid, struct timespec *ts)
#endif // CONFIG_HAL_BOARD != HAL_BOARD_SITL

#endif // AP_DDS_ENABLED