fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 23:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

microRTPS: timesync: cleanup and style fix

Browse Source
This commit is contained in:
TSC21
2020-03-10 12:15:18 +00:00
committed by Nuno Marques
parent 512c405834
commit 04ec2041e3
2 changed files with 82 additions and 98 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/templates/urtps/microRTPS_timesync.cpp.em
+25 -68
View File
@@ -73,34 +73,18 @@ TimeSync::TimeSync()
_request_reset_counter(0),
_last_msg_seq(0),
_last_remote_msg_seq(0)
{}
{ }
TimeSync::~TimeSync() { stop(); }
@[if ros2_distro]@
void TimeSync::start(const Timesync_Publisher* pub) {
@[else]@
void TimeSync::start(const timesync_Publisher* pub) {
@[end if]@
void TimeSync::start(const TimesyncPublisher* pub) {
stop();
_timesync_pub = (*pub);
auto run = [this]() {
while (!_request_stop) {
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro]@
@(package)::msg::dds_::Timesync_ msg = newTimesyncMsg();
@[ else]@
timesync_ msg = newTimesyncMsg();
@[ end if]@
@[else]@
@[ if ros2_distro]@
@(package)::msg::Timesync msg = newTimesyncMsg();
@[ else]@
timesync msg = newTimesyncMsg();
@[ end if]@
@[end if]@
timesync_msg_t msg = newTimesyncMsg();
_timesync_pub.publish(&msg);
@@ -135,6 +119,11 @@ bool TimeSync::addMeasurement(int64_t local_t1_ns, int64_t remote_t2_ns, int64_t
std::cout << std::endl << "Timesync clock changed, resetting" << std::endl;
}
if (_num_samples == 0) {
updateOffset(measurement_offset);
_skew_ns_per_sync = 0;
}
if (_num_samples >= WINDOW_SIZE) {
if (std::abs(measurement_offset - _offset_ns.load()) > TRIGGER_RESET_THRESHOLD_NS) {
_request_reset_counter++;
@@ -145,11 +134,6 @@ bool TimeSync::addMeasurement(int64_t local_t1_ns, int64_t remote_t2_ns, int64_t
}
}
if (_num_samples == 0) {
updateOffset(measurement_offset);
_skew_ns_per_sync = 0;
}
// ignore if rtti > 10ms
if (rtti > 15ll * 1000ll * 1000ll) {
std::cout << std::endl
@@ -157,49 +141,37 @@ bool TimeSync::addMeasurement(int64_t local_t1_ns, int64_t remote_t2_ns, int64_t
return false;
}
double alpha = ALPHA_FINAL;
double beta = BETA_FINAL;
double alpha = ALPHA_FINAL;
double beta = BETA_FINAL;
if (_num_samples < WINDOW_SIZE) {
double schedule = (double)_num_samples / WINDOW_SIZE;
double s = 1. - exp(.5 * (1. - 1. / (1. - schedule)));
alpha = (1. - s) * ALPHA_INITIAL + s * ALPHA_FINAL;
beta = (1. - s) * BETA_INITIAL + s * BETA_FINAL;
}
if (_num_samples < WINDOW_SIZE) {
double schedule = (double)_num_samples / WINDOW_SIZE;
double s = 1. - exp(.5 * (1. - 1. / (1. - schedule)));
alpha = (1. - s) * ALPHA_INITIAL + s * ALPHA_FINAL;
beta = (1. - s) * BETA_INITIAL + s * BETA_FINAL;
}
int64_t offset_prev = _offset_ns.load();
updateOffset(static_cast<int64_t>((_skew_ns_per_sync + _offset_ns.load()) * (1. - alpha) + measurement_offset * alpha));
_skew_ns_per_sync = static_cast<int64_t>(beta * (_offset_ns.load() - offset_prev) + (1. - beta) * _skew_ns_per_sync);
updateOffset(static_cast<int64_t>((_skew_ns_per_sync + _offset_ns.load()) * (1. - alpha) +
measurement_offset * alpha));
_skew_ns_per_sync =
static_cast<int64_t>(beta * (_offset_ns.load() - offset_prev) + (1. - beta) * _skew_ns_per_sync);
_num_samples++;
return true;
}
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro]@
void TimeSync::processTimesyncMsg(@(package)::msg::dds_::Timesync_* msg) {
@[ else]@
void TimeSync::processTimesyncMsg(timesync_* msg) {
@[ end if]@
@[else]@
@[ if ros2_distro]@
void TimeSync::processTimesyncMsg(@(package)::msg::Timesync* msg) {
@[ else]@
void TimeSync::processTimesyncMsg(timesync* msg) {
@[ end if]@
@[end if]@
void TimeSync::processTimesyncMsg(timesync_msg_t * msg) {
if (msg->sys_id() == 1 && msg->seq() != _last_remote_msg_seq) {
if (msg->tc1() > 0) {
_last_remote_msg_seq = msg->seq();
_last_remote_msg_seq = msg->seq();
if (msg->tc1() > 0) {
if (!addMeasurement(msg->ts1(), msg->tc1(), getMonoRawTimeNSec())) {
std::cerr << "Offset not updated" << std::endl;
}
} else if (msg->tc1() == 0) {
_last_remote_msg_seq = msg->seq();
msg->timestamp() = getMonoTimeUSec();
msg->sys_id() = 0;
msg->seq()++;
@@ -210,23 +182,8 @@ void TimeSync::processTimesyncMsg(timesync* msg) {
}
}
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro]@
@(package)::msg::dds_::Timesync_ TimeSync::newTimesyncMsg() {
@(package)::msg::dds_::Timesync_ msg{};
@[ else]@
timesync_ TimeSync::newTimesyncMsg() {
timesync_ msg{};
@[ end if]@
@[else]@
@[ if ros2_distro]@
@(package)::msg::Timesync TimeSync::newTimesyncMsg() {
@(package)::msg::Timesync msg{};
@[ else]@
timesync TimeSync::newTimesyncMsg() {
timesync msg{};
@[ end if]@
@[end if]@
timesync_msg_t TimeSync::newTimesyncMsg() {
timesync_msg_t msg{};
msg.timestamp() = getMonoTimeUSec();
msg.sys_id() = 0;