AP_DDS: add params for ping timeout and max retries

Signed-off-by: Rhys Mainwaring <[email protected]>
ArduPilot · Sep 24, 2024 · a75b8a9 · a75b8a9
1 parent 5f4a6dc
commit a75b8a9
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Showing 2 changed files with 26 additions and 3 deletions.
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -84,6 +84,25 @@ const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
     // @User: Standard
     AP_GROUPINFO("_DOMAIN_ID", 4, AP_DDS_Client, domain_id, 0),
 
+    // @Param: _TIMEOUT_MS
+    // @DisplayName: DDS ping timeout
+    // @Description: The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting.
+    // @Units: ms
+    // @Range: 1 10000
+    // @RebootRequired: True
+    // @Increment: 1
+    // @User: Standard
+    AP_GROUPINFO("_TIMEOUT_MS", 5, AP_DDS_Client, ping_timeout_ms, 1000),
+
+    // @Param: _MAX_RETRY
+    // @DisplayName: DDS ping max attempts
+    // @Description: The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting.
+    // @Range: 1 100
+    // @RebootRequired: True
+    // @Increment: 1
+    // @User: Standard
+    AP_GROUPINFO("_MAX_RETRY", 6, AP_DDS_Client, ping_max_retry, 10),
+
     AP_GROUPEND
 };
 
@@ -699,9 +718,7 @@ void AP_DDS_Client::main_loop(void)
         }
 
         // 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)) {
+        if (!uxr_ping_agent_attempts(comm, ping_timeout_ms, ping_max_retry)) {
             GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s No ping response, exiting", msg_prefix);
             return;
         }

diff --git a/libraries/AP_DDS/AP_DDS_Client.h b/libraries/AP_DDS/AP_DDS_Client.h
@@ -225,6 +225,12 @@ class AP_DDS_Client
     //! @brief ROS_DOMAIN_ID
     AP_Int32 domain_id;
 
+    //! @brief Timeout in milliseconds when pinging the XRCE agent
+    AP_Int32 ping_timeout_ms;
+
+    //! @brief Maximum number of attempts to ping the XRCE agent before exiting
+    AP_Int8 ping_max_retry;
+
     //! @brief Enum used to mark a topic as a data reader or writer
     enum class Topic_rw : uint8_t {
         DataReader = 0,