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fix timesync for timestamp sample (including SFINAE detection)

This commit is contained in:
Damien SIX 2021-05-12 12:16:18 +02:00 committed by Daniel Agar
parent ecf2cd3afb
commit e4f235001b
2 changed files with 9 additions and 3 deletions
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3
msg/templates/urtps/RtpsTopics.cpp.em
View File

@ -109,8 +109,11 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
@[ end if]@
// apply timestamp offset
uint64_t timestamp = getMsgTimestamp(&st);
uint64_t timestamp_sample = getMsgTimestampSample(&st);
_timesync->subtractOffset(timestamp);
setMsgTimestamp(&st, timestamp);
_timesync->subtractOffset(timestamp_sample);
setMsgTimestampSample(&st, timestamp_sample);
_@(topic)_pub.publish(&st);
@[ if topic == 'Timesync' or topic == 'timesync']@
}

9
msg/templates/urtps/RtpsTopics.h.em
View File

@ -120,10 +120,13 @@ private:
// SFINAE
template<typename T> struct hasTimestampSample{
private:
static void detect(...);
template<typename U> static decltype(std::declval<U>().timestamp_sample()) detect(const U&);
template<typename U,
typename = decltype(std::declval<U>().timestamp_sample(int64_t()))>
static std::true_type detect(int);
template<typename U>
static std::false_type detect(...);
public:
static constexpr bool value = std::is_same<uint64_t, decltype(detect(std::declval<T>()))>::value;
static constexpr bool value = decltype(detect<T>(0))::value;
};
template<typename T>