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ROSBuzz_MISTLab
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disabled onboard time sync, hoping NTP would sync.

This commit is contained in:
vivek-shankar 2018-08-28 16:18:29 -04:00
parent ffbe4569cc
commit fff1c3398d
2 changed files with 18 additions and 17 deletions
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26
buzz_scripts/include/timesync.bzz
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@ -6,19 +6,19 @@ timesync_state = 0
# Function to sync. algo
function check_time_sync(){
sync_timer = sync_timer + 1
if(sync_timer < TIME_TO_SYNC){
log(" Synchronizing Clock : ",sync_timer,"/",TIME_TO_SYNC)
timesync_state = 1
}
else{
timesync_state = 0
}
if(timesync_old_state == 0 and timesync_state == 1){
timesync_itr = timesync_itr + 1
timesync_old_state = 0
}
timesync_old_state = timesync_state
# sync_timer = sync_timer + 1
# if(sync_timer < TIME_TO_SYNC){
# log(" Synchronizing Clock : ",sync_timer,"/",TIME_TO_SYNC)
# timesync_state = 1
# }
# else{
# timesync_state = 0
# }
# if(timesync_old_state == 0 and timesync_state == 1){
# timesync_itr = timesync_itr + 1
# timesync_old_state = 0
# }
# timesync_old_state = timesync_state
}
# Function to set sync timer to zero and reinitiate sync. algo

9
src/roscontroller.cpp
View File

@ -204,9 +204,9 @@ void roscontroller::RosControllerRun()
inmsgdata.clear();
log<<std::endl;
time_sync_step();
if(debug)
ROS_INFO("[Debug : %i ] logical Time %f , har time %f",robot_id, logical_clock.toSec(), ros::Time::now().toSec());
// time_sync_step();
// if(debug)
// ROS_INFO("[Debug : %i ] logical Time %f , har time %f",robot_id, logical_clock.toSec(), ros::Time::now().toSec());
// Call Step from buzz script
buzz_utility::buzz_script_step();
// Prepare messages and publish them
@ -616,6 +616,7 @@ with size......... | /
uint32_t stime = (uint32_t)(ros::Time::now().toSec()); //(uint32_t)(logical_clock.toSec() * 100000);
memcpy((void*)(tmphead+2),(void*)&stime,sizeof(uint32_t));
uint64_t rheader[1];
rheader[0]=0;
payload_out.sysid = (uint8_t)robot_id;
payload_out.msgid = (uint32_t)message_number;
@ -1128,7 +1129,7 @@ void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg)
uint32_t temptime=0;
memcpy(&temptime, r16head+2, sizeof(uint32_t));
float stime = (float)temptime/(float)100000;
if(debug) ROS_INFO("Received Msg: sent time %f for id %u",stime, mid);
// if(debug) ROS_INFO("Received Msg: sent time %f for id %u",stime, mid);
// Check for Updater message, if updater message push it into updater FIFO
if ((uint64_t)msg->payload64[0] == (uint64_t)UPDATER_MESSAGE)
{