dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

microRTPS: client: add client response to timesync

This commit is contained in:
TSC21 2020-03-05 17:07:01 +00:00 committed by Nuno Marques
parent 2ec8958351
commit e3e607f600
1 changed files with 7 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
msg/templates/uorb_microcdr/microRTPS_client.cpp.em
View File

@ -105,6 +105,13 @@ void* send(void* /*unused*/)
@[for idx, topic in enumerate(send_topics)]@
@(send_base_types[idx])_s @(topic)_data;
if (@(topic)_sub.update(&@(topic)_data)) {
@[if topic == 'Timesync' or topic == 'timesync']@
if (@(topic)_data.tc1 == 0) {
@(topic)_data.seq++;
@(topic)_data.tc1 = hrt_absolute_time() * 1000ULL;
@(topic)_data.ts1 = @(topic)_data.ts1;
}
@[end if]@
// copy raw data into local buffer. Payload is shifted by header length to make room for header
serialize_@(send_base_types[idx])(&writer, &@(topic)_data, &data_buffer[header_length], &length);
if (0 < (read = transport_node->write(static_cast<char>(@(rtps_message_id(ids, topic))), data_buffer, length)))