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microRTPS: add timesync for the agent side

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This commit is contained in:
TSC21
2020-03-10 12:15:18 +00:00
committed by Nuno Marques
parent 152427ecdc
commit 170835f3f8
11 changed files with 331 additions and 7 deletions
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msg/templates/urtps/RtpsTopics.h.em
+5
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@@ -57,6 +57,8 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
#include <condition_variable>
#include <queue>
#include "microRTPS_timesync.h"
@[for topic in send_topics]@
#include "@(topic)_Publisher.h"
@[end for]@
@@ -67,6 +69,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
class RtpsTopics {
public:
bool init(std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue);
void set_timesync(const std::shared_ptr<TimeSync>& timesync) { _timesync = timesync; };
@[if send_topics]@
void publish(uint8_t topic_ID, char data_buffer[], size_t len);
@[end if]@
@@ -88,5 +91,7 @@ private:
@(topic)_Subscriber _@(topic)_sub;
@[end for]@
std::shared_ptr<TimeSync> _timesync;
@[end if]@
};