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105c706537
Micro XRCE-DDS expects the application to supply open/close/write/read callbacks for the wire transport. Add a single dispatcher that registers the selected backend via rmw_uros_set_custom_transport(), plus two backends: transport/microros_transport_udp.c BSD-socket UDP backend. Opens an AF_INET/SOCK_DGRAM socket, resolves CONFIG_MICROROS_AGENT_IP/PORT, connect()s it, and uses send/recv. The socket fd is stashed in uxrCustomTransport->args so no module-level state is needed. transport/microros_transport_serial.c termios serial backend. Opens CONFIG_MICROROS_SERIAL_DEVICE with O_RDWR|O_NOCTTY|O_CLOEXEC, switches to raw 8N1 at CONFIG_MICROROS_SERIAL_BAUD, and uses poll/read/write. Fd is again stashed in uxrCustomTransport->args. Both backends are mutually exclusive at compile time via Kconfig; the dispatcher selects which set of callbacks to register. Wired into both the legacy Make build (CSRCS in system/microros/Makefile) and the CMake build (separate microros_transport static library with the transport directory only exposed to its INTERFACE). Signed-off-by: Arjav Patel <arjav1528@gmail.com> |
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| .. | ||
| audioutils | ||
| builtin | ||
| canutils | ||
| crypto/controlse | ||
| fsutils | ||
| graphics | ||
| industry | ||
| interpreters | ||
| logging/nxscope | ||
| lte | ||
| modbus | ||
| netutils | ||
| nshlib | ||
| nxmodbus | ||
| platform | ||
| system | ||
| testing | ||
| wasm | ||
| wireless | ||
| .gitignore | ||