S Morita / mbed-mros2

Porting mros2 as an Mbed library.

Dependents:   mbed-os-example-mros2 example-mbed-mros2-sub-pose example-mbed-mros2-pub-twist example-mbed-mros2-mturtle-teleop

embeddedRTPS/include/rtps/config_stm.h@7:c80f65422d99, 2022-03-19 (annotated)

Committer:
smoritaemb
Date:
Sat Mar 19 09:23:37 2022 +0900
Revision:
7:c80f65422d99
Parent:
0:580aba13d1a1 
Merge test_assortment_of_msgs branch.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
smoritaemb 0:580aba13d1a1 1 /*
smoritaemb 0:580aba13d1a1 2 The MIT License
smoritaemb 0:580aba13d1a1 3 Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University
smoritaemb 0:580aba13d1a1 4 Permission is hereby granted, free of charge, to any person obtaining a copy
smoritaemb 0:580aba13d1a1 5 of this software and associated documentation files (the "Software"), to deal
smoritaemb 0:580aba13d1a1 6 in the Software without restriction, including without limitation the rights
smoritaemb 0:580aba13d1a1 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
smoritaemb 0:580aba13d1a1 8 copies of the Software, and to permit persons to whom the Software is
smoritaemb 0:580aba13d1a1 9 furnished to do so, subject to the following conditions:
smoritaemb 0:580aba13d1a1 10 The above copyright notice and this permission notice shall be included in
smoritaemb 0:580aba13d1a1 11 all copies or substantial portions of the Software.
smoritaemb 0:580aba13d1a1 12 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
smoritaemb 0:580aba13d1a1 13 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
smoritaemb 0:580aba13d1a1 14 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
smoritaemb 0:580aba13d1a1 15 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
smoritaemb 0:580aba13d1a1 16 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
smoritaemb 0:580aba13d1a1 17 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
smoritaemb 0:580aba13d1a1 18 THE SOFTWARE
smoritaemb 0:580aba13d1a1 19
smoritaemb 0:580aba13d1a1 20 This file is part of embeddedRTPS.
smoritaemb 0:580aba13d1a1 21
smoritaemb 0:580aba13d1a1 22 Author: i11 - Embedded Software, RWTH Aachen University
smoritaemb 0:580aba13d1a1 23 */
smoritaemb 0:580aba13d1a1 24
smoritaemb 0:580aba13d1a1 25 #ifndef RTPS_CONFIG_H
smoritaemb 0:580aba13d1a1 26 #define RTPS_CONFIG_H
smoritaemb 0:580aba13d1a1 27
smoritaemb 0:580aba13d1a1 28 #include "rtps/common/types.h"
smoritaemb 0:580aba13d1a1 29
smoritaemb 0:580aba13d1a1 30 namespace rtps {
smoritaemb 0:580aba13d1a1 31
smoritaemb 0:580aba13d1a1 32 #define IS_LITTLE_ENDIAN 1
smoritaemb 0:580aba13d1a1 33
smoritaemb 0:580aba13d1a1 34 namespace Config {
smoritaemb 0:580aba13d1a1 35 const VendorId_t VENDOR_ID = {13, 37};
smoritaemb 0:580aba13d1a1 36 const std::array<uint8_t, 4> IP_ADDRESS = {
smoritaemb 0:580aba13d1a1 37 192, 168, 0, 47}; // Needs to be set in lwipcfg.h too.
smoritaemb 0:580aba13d1a1 38 const GuidPrefix_t BASE_GUID_PREFIX{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12};
smoritaemb 0:580aba13d1a1 39
smoritaemb 0:580aba13d1a1 40 const uint8_t DOMAIN_ID = 0; // 230 possible with UDP
smoritaemb 0:580aba13d1a1 41 const uint8_t NUM_STATELESS_WRITERS = 2;
smoritaemb 0:580aba13d1a1 42 const uint8_t NUM_STATELESS_READERS = 2;
smoritaemb 0:580aba13d1a1 43 const uint8_t NUM_STATEFUL_READERS = 2;
smoritaemb 0:580aba13d1a1 44 const uint8_t NUM_STATEFUL_WRITERS = 2;
smoritaemb 0:580aba13d1a1 45 const uint8_t MAX_NUM_PARTICIPANTS = 1;
smoritaemb 0:580aba13d1a1 46 const uint8_t NUM_WRITERS_PER_PARTICIPANT = 4;
smoritaemb 0:580aba13d1a1 47 const uint8_t NUM_READERS_PER_PARTICIPANT = 4;
smoritaemb 0:580aba13d1a1 48 const uint8_t NUM_WRITER_PROXIES_PER_READER = 3;
smoritaemb 0:580aba13d1a1 49 const uint8_t NUM_READER_PROXIES_PER_WRITER = 3;
smoritaemb 0:580aba13d1a1 50
smoritaemb 0:580aba13d1a1 51 const uint8_t HISTORY_SIZE = 10;
smoritaemb 0:580aba13d1a1 52
smoritaemb 0:580aba13d1a1 53 const uint8_t MAX_TYPENAME_LENGTH = 20;
smoritaemb 0:580aba13d1a1 54 const uint8_t MAX_TOPICNAME_LENGTH = 20;
smoritaemb 0:580aba13d1a1 55
smoritaemb 0:580aba13d1a1 56 const int HEARTBEAT_STACKSIZE = 1200; // byte
smoritaemb 0:580aba13d1a1 57 const int THREAD_POOL_WRITER_STACKSIZE = 1100; // byte
smoritaemb 0:580aba13d1a1 58 const int THREAD_POOL_READER_STACKSIZE = 1600; // byte
smoritaemb 0:580aba13d1a1 59 const uint16_t SPDP_WRITER_STACKSIZE = 550; // byte
smoritaemb 0:580aba13d1a1 60
smoritaemb 0:580aba13d1a1 61 const uint16_t SF_WRITER_HB_PERIOD_MS = 4000;
smoritaemb 0:580aba13d1a1 62 const uint16_t SPDP_RESEND_PERIOD_MS = 10000;
smoritaemb 0:580aba13d1a1 63 const uint8_t SPDP_WRITER_PRIO = 3;
smoritaemb 0:580aba13d1a1 64 const uint8_t SPDP_MAX_NUMBER_FOUND_PARTICIPANTS = 5;
smoritaemb 0:580aba13d1a1 65 const uint8_t SPDP_MAX_NUM_LOCATORS = 5;
smoritaemb 0:580aba13d1a1 66 const Duration_t SPDP_LEASE_DURATION = {100, 0};
smoritaemb 0:580aba13d1a1 67
smoritaemb 0:580aba13d1a1 68 const int MAX_NUM_UDP_CONNECTIONS = 10;
smoritaemb 0:580aba13d1a1 69
smoritaemb 0:580aba13d1a1 70 const int THREAD_POOL_NUM_WRITERS = 1;
smoritaemb 0:580aba13d1a1 71 const int THREAD_POOL_NUM_READERS = 1;
smoritaemb 0:580aba13d1a1 72 const int THREAD_POOL_WRITER_PRIO = 3;
smoritaemb 0:580aba13d1a1 73 const int THREAD_POOL_READER_PRIO = 3;
smoritaemb 0:580aba13d1a1 74 const int THREAD_POOL_WORKLOAD_QUEUE_LENGTH = 10;
smoritaemb 0:580aba13d1a1 75
smoritaemb 0:580aba13d1a1 76 constexpr int OVERALL_HEAP_SIZE =
smoritaemb 0:580aba13d1a1 77 THREAD_POOL_NUM_WRITERS * THREAD_POOL_WRITER_STACKSIZE +
smoritaemb 0:580aba13d1a1 78 THREAD_POOL_NUM_READERS * THREAD_POOL_READER_STACKSIZE +
smoritaemb 0:580aba13d1a1 79 MAX_NUM_PARTICIPANTS * SPDP_WRITER_STACKSIZE +
smoritaemb 0:580aba13d1a1 80 NUM_STATEFUL_WRITERS * HEARTBEAT_STACKSIZE;
smoritaemb 0:580aba13d1a1 81 } // namespace Config
smoritaemb 0:580aba13d1a1 82 } // namespace rtps
smoritaemb 0:580aba13d1a1 83
smoritaemb 0:580aba13d1a1 84 #endif // RTPS_CONFIG_H