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ROSBuzz_MISTLab
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changed logging time to rostime, to test NTP.

This commit is contained in:
Gwaihir 2018-08-14 16:27:21 -04:00
parent f58373e2b5
commit f2c662dfa9
1 changed files with 4 additions and 4 deletions
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8
src/roscontroller.cpp
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@ -613,7 +613,7 @@ with size......... | /
uint16_t tmphead[4]; uint16_t tmphead[4];
tmphead[1] = (uint16_t)message_number; tmphead[1] = (uint16_t)message_number;
get_logical_time(); get_logical_time();
uint32_t stime = (uint32_t)(logical_clock.toSec() * 100000); uint32_t stime = (uint32_t)(ros::Time::now().toSec()); //(uint32_t)(logical_clock.toSec() * 100000);
memcpy((void*)(tmphead+2),(void*)&stime,sizeof(uint32_t)); memcpy((void*)(tmphead+2),(void*)&stime,sizeof(uint32_t));
uint64_t rheader[1]; uint64_t rheader[1];
payload_out.sysid = (uint8_t)robot_id; payload_out.sysid = (uint8_t)robot_id;
@ -654,7 +654,7 @@ with size......... | /
} }
//Store out msg time //Store out msg time
get_logical_time(); get_logical_time();
out_msg_time = logical_clock.toNSec(); out_msg_time = ros::Time::now().toNSec(); //logical_clock.toNSec();
// publish prepared messages in respective topic // publish prepared messages in respective topic
payload_pub.publish(payload_out); payload_pub.publish(payload_out);
delete[] out; delete[] out;
@ -1169,9 +1169,9 @@ void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg)
if((int)mtype == (int)BUZZ_MESSAGE_TIME) index = 5; if((int)mtype == (int)BUZZ_MESSAGE_TIME) index = 5;
// Extract robot id of the neighbour // Extract robot id of the neighbour
uint16_t* out = buzz_utility::u64_cvt_u16((uint64_t) * (message_obt + index)); uint16_t* out = buzz_utility::u64_cvt_u16((uint64_t) * (message_obt + index));
get_logical_time(); //get_logical_time();
// store in msg data for data log // store in msg data for data log
msg_data inm(mid,out[1],out[0]*sizeof(uint64_t),stime,logical_clock.toNSec()); msg_data inm(mid,out[1],out[0]*sizeof(uint64_t),stime,ros::Time::now().toNSec());
inmsgdata.push_back(inm); inmsgdata.push_back(inm);
if (debug) if (debug)