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fix(kmod): update kernel module macros #434

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merged 4 commits into from
Feb 27, 2025
Merged

fix(kmod): update kernel module macros #434

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17197c5
fix(kmod): refactor comments
veqcc Feb 27, 2025
0baa218
change MAX_SUBSCRIBER_NUM
veqcc Feb 27, 2025
e7262f9
fix ioctl
veqcc Feb 27, 2025
e01954a
fix
veqcc Feb 27, 2025
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3 changes: 3 additions & 0 deletions kmod/agnocast.c
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,9 @@ static DEFINE_MUTEX(global_mutex);
// Maximum number of referencing Publisher/Subscriber per entry: +1 for the publisher
#define MAX_REFERENCING_PUBSUB_NUM_PER_ENTRY (MAX_SUBSCRIBER_NUM + 1)

// Maximum number of read-only shared memory regions mappable per process
#define MAX_MAP_NUM 8

// Maximum length of topic name: 256 characters
#define TOPIC_NAME_BUFFER_SIZE 256
#define NODE_NAME_BUFFER_SIZE 256
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10 changes: 4 additions & 6 deletions kmod/agnocast.h
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Expand Up @@ -2,12 +2,10 @@

#include <linux/types.h>

// TODO: should be made larger when applied for Autoware
#define MAX_PUBLISHER_NUM 4 // At least 4 is required for sample application
#define MAX_SUBSCRIBER_NUM 8 // At least 6 is required for pointcloud topic in Autoware
#define MAX_QOS_DEPTH 10 // Maximum depth of transient local usage part in Autoware
#define MAX_RELEASE_NUM 3 // Maximum number of entry_nodes that can be released at once
#define MAX_MAP_NUM 8 // Max number of read-only shared memory regions mappable per process
#define MAX_PUBLISHER_NUM 4 // Maximum number of publishers per topic
#define MAX_SUBSCRIBER_NUM 16 // Maximum number of subscribers per topic
#define MAX_QOS_DEPTH 10 // Maximum QoS depth for each publisher/subscriber
#define MAX_RELEASE_NUM 3 // Maximum number of entries that can be released at one ioctl

typedef int32_t topic_local_id_t;
struct publisher_shm_info
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9 changes: 4 additions & 5 deletions src/agnocastlib/include/agnocast_ioctl.hpp
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Expand Up @@ -8,11 +8,10 @@
namespace agnocast
{

// TODO: should be made larger when applied for Autoware
#define MAX_PUBLISHER_NUM 4 // At least 4 is required for sample application
#define MAX_SUBSCRIBER_NUM 8 // At least 6 is required for pointcloud topic in Autoware
#define MAX_QOS_DEPTH 10 // Maximum depth of transient local usage part in Autoware
#define MAX_RELEASE_NUM 3 // Max to keep union size equal to 32 bytes
#define MAX_PUBLISHER_NUM 4 // Maximum number of publishers per topic
#define MAX_SUBSCRIBER_NUM 16 // Maximum number of subscribers per topic
#define MAX_QOS_DEPTH 10 // Maximum QoS depth for each publisher/subscriber
#define MAX_RELEASE_NUM 3 // Maximum number of entries that can be released at one ioctl

using topic_local_id_t = int32_t;
struct publisher_shm_info
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