Skip to content

Latest commit

 

History

History
30 lines (24 loc) · 1.69 KB

uorb_graph.md

File metadata and controls

30 lines (24 loc) · 1.69 KB

uORB Publication/Subscription Graph

This page provides a uORB publication/subscription graph that shows the communication between modules. It is based on information that is extracted directly from the source code. Usage instructions are provided below.

<iframe :src="withBase('/middleware/index.html')" frameborder="0" width="1300" height="1450px" style="text-align: center; margin-left: 0px; margin-right: 0px;"></iframe> <script setup> import { withBase } from 'vitepress'; </script>

Graph Properties

The graph has the following properties:

  • Modules are shown in gray with rounded corners while topics are displayed as coloured rectangular boxes.
  • Associated modules and topics are connected by lines. Dashed lines indicate that the module publishes the topic, solid lines indicate that the module subscribes to the topic, while dot-dashed lines indicate that the module both publishes and subscribes to the topic.
  • Some modules and topics are excluded:
    • Topics that are subscribed/published by many modules: parameter_update, mavlink_log and log_message.
    • The set of logged topics.
    • Topics that have no subscriber or no publisher.
    • Modules in src/examples.
  • Hovering over a module/topic highlights all its connections.
  • Double-clicking on a topic opens its message definition.
  • Make sure your browser window is wide enough to display the full graph (the sidebar menu can be hidden with the icon in the top-left corner). You can also zoom the image.
  • The Preset selection list allows you to refine the list of modules that are shown.
  • The Search box can be used to find particular modules/topics (topics that are not selected by the search are greyed-out).