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CYCLONE DDS COMPATIBILITY: Disable PUSH_MODE

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It seems that Cyclone DDS discards a DATA message before it has received
a HEARTBEAT, but still ACKs it in the ACKNACKs.
This commit is contained in:
Greek 2022-01-28 13:27:14 +01:00 committed by Greek64
parent fcbb6f12f5
commit 80eb517eda
2 changed files with 2 additions and 1 deletions
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2
src/ros2/dds_user_config.vhd
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@ -94,7 +94,7 @@ package body user_config is
procedure set_sim_timing (ref : inout CONFIG_TYPE; sel : in boolean) is
begin
if (sel) then
ref.HEARTBEAT_PERIOD := gen_duration(10 us);
ref.HEARTBEAT_PERIOD := gen_duration(50 us);
ref.HEARTBEAT_RESPONSE_DELAY := gen_duration(500 ns);
ref.HEARTBEAT_SUPPRESSION_DELAY := gen_duration(100 ns);
ref.ACKNACK_RESPONSE_DELAY := gen_duration(500 ns);

1
src/ros2/ros_package.vhd
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@ -430,6 +430,7 @@ package body ros_package is
config.MAX_SAMPLES := profile.HISTORY_DEPTH;
config.MAX_INSTANCES := profile.HISTORY_DEPTH;
config.MAX_SAMPLES_PER_INSTANCE := profile.HISTORY_DEPTH;
config.PUSH_MODE := FALSE; -- CycloneDDS compatibility
end procedure;
function gen_fqn(ns : string; node : string; name : string) return USER_STRING_TYPE is