AP_DDS: add param DDS_DOMAIN_ID

- Require reboot. - Set DDS_DOMAIN_ID range: 0 to 232.. Signed-off-by: Rhys Mainwaring <[email protected]>
Ryanf55 · Aug 24, 2024 · 371a6f8 · 371a6f8
1 parent 69ef3bb
commit 371a6f8
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Showing 2 changed files with 14 additions and 2 deletions.
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -72,6 +72,14 @@ const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
 
 #endif
 
+    // @Param: _DOMAIN_ID
+    // @DisplayName: DDS DOMAIN ID
+    // @Description: Set the ROS_DOMAIN_ID
+    // @Range: 0 232
+    // @RebootRequired: True
+    // @User: Standard
+    AP_GROUPINFO("_DOMAIN_ID", 4, AP_DDS_Client, domain_id, 0),
+
     AP_GROUPEND
 };
 
@@ -742,8 +750,9 @@ bool AP_DDS_Client::create()
         .id = 0x01,
         .type = UXR_PARTICIPANT_ID
     };
-    const char* participant_ref = "participant_profile";
-    const auto participant_req_id = uxr_buffer_create_participant_ref(&session, reliable_out, participant_id,0,participant_ref,UXR_REPLACE);
+    const char* participant_name = "ardupilot_dds";
+    const auto participant_req_id = uxr_buffer_create_participant_bin(&session, reliable_out, participant_id,
+                                    static_cast<uint16_t>(domain_id), participant_name, UXR_REPLACE);
 
     //Participant requests
     constexpr uint8_t nRequestsParticipant = 1;

diff --git a/libraries/AP_DDS/AP_DDS_Client.h b/libraries/AP_DDS/AP_DDS_Client.h
@@ -198,6 +198,9 @@ class AP_DDS_Client
     //! @brief Parameter storage
     static const struct AP_Param::GroupInfo var_info[];
 
+    //! @brief ROS_DOMAIN_ID
+    AP_Int32 domain_id;
+
     //! @brief Convenience grouping for a single "channel" of data
     struct Topic_table {
         const uint8_t topic_id;