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6284bdc50e
Add a lightweight Micro XRCE-DDS Client integration with UDP transport support and a publisher example. Signed-off-by: lljwork2021 <lljwork2021@163.com>
50 lines
1.2 KiB
Text
50 lines
1.2 KiB
Text
#
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# For a description of the syntax of this configuration file,
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# see the file kconfig-language.txt in the NuttX tools repository.
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#
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menuconfig SYSTEM_XRCEDDS
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bool "eProsima Micro XRCE-DDS"
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default n
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---help---
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Enable a lightweight build of Micro XRCE-DDS Client 3.0.1 and
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Micro-CDR 2.0.2. Only the core client and the built-in UDP
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transport are built; ROS 2, micro-ROS, discovery, and other
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transports are not included.
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if SYSTEM_XRCEDDS
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config SYSTEM_XRCEDDS_STREAM_FRAMING
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bool "Byte-stream transport framing"
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default n
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---help---
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Enable HDLC framing for byte-stream transports such as UART.
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The built-in UDP transport preserves packet boundaries, so this
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is not needed for the UDP publisher demo.
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config SYSTEM_XRCEDDS_MTU
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int "UDP transport MTU"
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range 64 65535
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default 512
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config SYSTEM_XRCEDDS_MAX_OUTPUT_BEST_EFFORT_STREAMS
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int "Maximum output best-effort streams"
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range 1 127
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default 1
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config SYSTEM_XRCEDDS_MAX_OUTPUT_RELIABLE_STREAMS
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int "Maximum output reliable streams"
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range 1 127
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default 1
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config SYSTEM_XRCEDDS_MAX_INPUT_BEST_EFFORT_STREAMS
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int "Maximum input best-effort streams"
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range 1 127
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default 1
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config SYSTEM_XRCEDDS_MAX_INPUT_RELIABLE_STREAMS
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int "Maximum input reliable streams"
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range 1 127
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default 1
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endif
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