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dds: clean up timesync

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This commit is contained in:
Alexander Lerach
2025-05-23 11:30:55 +02:00
parent 31ab3f0ac9
commit 134ee7b640
3 changed files with 10 additions and 21 deletions
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src/modules/uxrce_dds_client/uxrce_dds_client.cpp
+7 -18
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@@ -54,29 +54,19 @@ static constexpr uint8_t TIMESYNC_MAX_TIMEOUTS = 10;
using namespace time_literals;
static void on_time(uxrSession *session, int64_t current_time, int64_t received_timestamp, int64_t transmit_timestamp,
int64_t originate_timestamp, void *args)
static void on_time(uxrSession *session, int64_t current_time, int64_t client_transmit_timestamp,
int64_t agent_receive_timestamp, int64_t originate_timestamp, void *args)
{
// latest round trip time (RTT)
int64_t rtt = current_time - originate_timestamp;
// HRT to AGENT
int64_t offset_1 = (received_timestamp - originate_timestamp) - (rtt / 2);
int64_t offset_2 = (transmit_timestamp - current_time) - (rtt / 2);
session->time_offset = (offset_1 + offset_2) / 2;
if (args) {
Timesync *timesync = static_cast<Timesync *>(args);
timesync->update(current_time / 1000, transmit_timestamp, originate_timestamp);
timesync->update(current_time / 1000, agent_receive_timestamp, originate_timestamp);
session->time_offset = -timesync->offset() * 1000; // us -> ns
}
}
static void on_time_no_sync(uxrSession *session, int64_t current_time, int64_t received_timestamp,
int64_t transmit_timestamp,
int64_t originate_timestamp, void *args)
static void on_time_no_sync(uxrSession *session, int64_t current_time, int64_t client_transmit_timestamp,
int64_t agent_receive_timestamp, int64_t originate_timestamp, void *args)
{
session->time_offset = 0;
}
@@ -693,7 +683,6 @@ void UxrceddsClient::run()
if (_synchronize_timestamps && hrt_elapsed_time(&last_sync_session) > 1_s) {
if (uxr_sync_session(&session, 10) && _timesync.sync_converged()) {
//PX4_INFO("synchronized with time offset %-5" PRId64 "ns", session.time_offset);
last_sync_session = hrt_absolute_time();
if (_param_uxrce_dds_syncc.get() > 0) {
@@ -702,10 +691,10 @@ void UxrceddsClient::run()
}
if (!_timesync_converged && _timesync.sync_converged()) {
PX4_INFO("time sync converged");
PX4_DEBUG("time sync converged");
} else if (_timesync_converged && !_timesync.sync_converged()) {
PX4_WARN("time sync no longer converged");
PX4_DEBUG("time sync no longer converged");
}
_timesync_converged = _timesync.sync_converged();