feat(communication): add MQTTLite protocol#33
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Replace the old USB send-with-lock transport hook with TX completion callbacks, add transport capability metadata, and keep USB/UART callback semantics aligned for Dual protocol sends. Validation: git diff --check; west build -b robomaster_board_c samples/communication/ares_communication --pristine; west build -b dm_mc02 samples/communication/mqttlite_usb --pristine; west twister -T tests/native_sim/mqttlite --platform native_sim/native/64 --inline-logs; west twister -T tests/native_sim/module_smoke --platform native_sim/native/64 --inline-logs.
Remove the boolean motor_can_sched_send_prio() wrapper and route high-priority motor control frames through motor_can_sched_send_with_priority() with MOTOR_CAN_SCHED_PRIO_CRITICAL. Validation: git diff --cached --check; west twister -T tests/native_sim/motor_driver_sim --platform native_sim/native/64 --inline-logs.
Update the communication references for send_with_callback(), transport capability queries, and buffer ownership rules after the USB/UART interface callback update.
Add a lightweight MQTT-like publish/subscribe protocol for ARES interfaces with QoS0/1/2, topic-id registration, and a QoS0 zero-copy publish path. Also add a USB bulk sample, native_sim coverage, protocol Kconfig/CMake integration, and documentation for variable-length payloads and topic-id fast paths. Validation: git diff --cached --check; west twister -T tests/native_sim/mqttlite --platform native_sim/native/64 --inline-logs; west build -b dm_mc02 samples/communication/mqttlite_usb --pristine.
Resolve ARES communication documentation conflicts and bring in the latest master UART USART1 validation updates before updating the PR. Validation: git diff --check; west twister -T tests/native_sim/mqttlite --platform native_sim/native/64 --inline-logs; west twister -T tests/native_sim/ares_communication --platform native_sim/native/64 --inline-logs; west build -b robomaster_board_c samples/communication/ares_communication --pristine; west build -b dm_mc02 samples/communication/mqttlite_usb --pristine.
ttwards
marked this pull request as ready for review
July 7, 2026 17:51
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概要
send_with_callback(),caps(), andmtu(); update Dual protocol send completion handling.motor_can_sched_send_prio()helper and updating motor drivers to useMOTOR_CAN_SCHED_PRIO_CRITICAL.refactor/motor-controller-header.测试
git diff --checkwest twister -T tests/native_sim/motor_driver_sim --platform native_sim/native/64 --inline-logswest twister -T tests/native_sim/mqttlite --platform native_sim/native/64 --inline-logswest twister -T tests/native_sim/module_smoke --platform native_sim/native/64 --inline-logswest build -b dm_mc02 samples/communication/mqttlite_usb --pristinewest build -b robomaster_board_c samples/communication/ares_communication --pristine硬件
影响
send_with_lock()model to TX completion callbacks and capability/MTU queries.CONFIG_ARES_MQTTLITE_MAX_PAYLOAD_SIZE.motor_can_sched_send_with_priority().限制
ares_communicationlocal build still reports the existingCAN_COUNT/MOTOR=nKconfig warning; the build completes successfully.