Spiri
/
ROSBuzz_MISTLab
12
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

time sync out of bound fix

This commit is contained in:
Gwaihir 2018-07-30 03:39:49 +00:00
parent 5d06389f5e
commit c5f0a3ddd4
1 changed files with 4 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/roscontroller.cpp
View File

@ -1477,11 +1477,12 @@ void roscontroller::time_sync_step()
offsetCount++;
if((it->second).age < BUZZRATE) (it->second).age++;
else neighbours_time_map.erase(it);
ROS_INFO("Size of nei time %i",neighbours_time_map.size());
}
avgRate = avgRate/(neighbours_time_map.size()+1);
if(offsetCount>0 && !time_sync_jumped){
int64_t correction = (int64_t)ceil(avgOffset / (offsetCount+1));
if(std::abs(correction) < TIME_SYNC_JUMP_THR){
if(correction < TIME_SYNC_JUMP_THR && correction > 0 ){
set_logical_time_correction(correction);
}
}
@ -1517,6 +1518,7 @@ void roscontroller::push_timesync_nei_msg(int nid, uint64_t nh, uint64_t nl, dou
}
buzz_utility::neighbor_time nt(nh, nl, ros::Time::now().toNSec(),
logical_clock.toNSec(), nr, relativeRate);
nt.age=0;
neighbours_time_map.insert(make_pair(nid, nt));
}