update idl and dds rpc timeout

unitreerobotics · Dec 18, 2024 · a05fb25 · a05fb25
1 parent 578b387
commit a05fb25
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Showing 13 changed files with 1,009 additions and 238 deletions.
diff --git a/include/unitree/common/assert.hpp b/include/unitree/common/assert.hpp
@@ -10,7 +10,7 @@
     if (debug)                                              \
     {                                                       \
         std::cout << "[" << ::time(NULL)                    \
-            << "] [" << ::gettid()                          \
+            << "] [" << ::syscall(SYS_gettid)               \
             << "] UT_ASSERT DEBUG at __FILE__:" << file     \
             << ", __FUNCTION__:" << func                    \
             << ", __LINE__:" << line                        \
@@ -21,7 +21,7 @@
     else                                                    \
     {                                                       \
         std::cout << "[" << ::time(NULL)                    \
-            << "] [" << ::gettid()                          \
+            << "] [" << ::syscall(SYS_gettid)               \
             << "] UT_ASSERT ABORT at __FILE__:" << file     \
             << ", __FUNCTION__:" << func                    \
             << ", __LINE__:" << line                        \

diff --git a/include/unitree/common/dds/dds_entity.hpp b/include/unitree/common/dds/dds_entity.hpp
@@ -16,9 +16,10 @@
 
 /*
  * dds wait sub/pub matched default time slice.
- * default 50000 us
+ * default 10000 us
  */
-#define __UT_DDS_WAIT_MATCHED_TIME_SLICE 50000
+#define __UT_DDS_WAIT_MATCHED_TIME_SLICE 10000
+#define __UT_DDS_WAIT_MATCHED_TIME_MAX   1000000
 
 using namespace org::eclipse::cyclonedds;
 
@@ -170,9 +171,9 @@ class DdsWriter : public DdsLogger
 
     bool Write(const MSG& message, int64_t waitMicrosec)
     {
-        if (waitMicrosec > 0 && !WaitReader(waitMicrosec))
+        if (waitMicrosec > 0)
         {
-            return false;
+            WaitReader(waitMicrosec);
         }
 
         UT_DDS_EXCEPTION_TRY
@@ -186,20 +187,24 @@ class DdsWriter : public DdsLogger
     }
 
 private:
-    bool WaitReader(int64_t waitMicrosec)
+    void WaitReader(int64_t waitMicrosec)
     {
-        while (mNative.publication_matched_status().current_count() == 0)
+        if (waitMicrosec < __UT_DDS_WAIT_MATCHED_TIME_SLICE)
         {
-            if (waitMicrosec <= 0)
-            {
-                return false;
-            }
+            return;
+        }
 
-            MicroSleep(__UT_DDS_WAIT_MATCHED_TIME_SLICE);
-            waitMicrosec -=__UT_DDS_WAIT_MATCHED_TIME_SLICE;
+        int64_t waitTime = (waitMicrosec / 2);
+        if (waitTime > __UT_DDS_WAIT_MATCHED_TIME_MAX)
+        {
+            waitTime = __UT_DDS_WAIT_MATCHED_TIME_MAX;
         }
 
-        return true;
+        while (waitTime > 0 && mNative.publication_matched_status().current_count() == 0)
+        {
+            MicroSleep(__UT_DDS_WAIT_MATCHED_TIME_SLICE);
+            waitTime -=__UT_DDS_WAIT_MATCHED_TIME_SLICE;
+        }
     }
 
 private:

diff --git a/include/unitree/common/decl.hpp b/include/unitree/common/decl.hpp
@@ -25,6 +25,7 @@
 #include <sys/syscall.h>
 #include <sys/resource.h>
 #include <sys/timerfd.h>
+#include <net/if.h>
 #include <netinet/in.h>
 #include <netdb.h>
 #include <time.h>
@@ -73,9 +74,9 @@
 
 #define UT_DESC_ERR(name) name##_DESC
 
-#if defined(__GLIBC__) and defined(__aarch64__)
-#define gettid() syscall(__NR_gettid)
-#endif
+#ifndef SYS_gettid
+#define SYS_gettid __NR_gettid
+#endif//SYS_gettid
 
 #define UT_SAFE_DEL(x)  \
     if ((x) != NULL) { delete (x); (x) = NULL; }

diff --git a/include/unitree/common/os.hpp b/include/unitree/common/os.hpp
@@ -54,6 +54,9 @@ class OsHelper
     uint64_t GetThreadId();
     int32_t GetTid();
 
+    bool GetNetworkInterfaceIps(std::map<std::string,std::string>& networkInterfaceIpMap);
+    bool GetIps(std::set<std::string>& ips);
+
     void CpuSet(const std::string& cpuIds);
     void CpuSet(uint64_t threadId, size_t cpuId);
 

diff --git a/include/unitree/idl/hg/HandCmd_.hpp b/include/unitree/idl/hg/HandCmd_.hpp
diff --git a/include/unitree/idl/hg/HandState_.hpp b/include/unitree/idl/hg/HandState_.hpp