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DSDL catchup

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Pavel Kirienko
2015-07-05 09:27:22 +03:00
parent a25a9252a7
commit 27ec2419ff
10 changed files with 32 additions and 32 deletions
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libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
+3 -3
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@@ -83,7 +83,7 @@ class UAVCAN_EXPORT GlobalTimeSyncSlave : Noncopyable
const bool needs_init = !master_nid_.isValid() || prev_ts_mono_.isZero();
const bool switch_master = msg.getSrcNodeID() < master_nid_;
// TODO: Make configurable
const bool pub_timeout = since_prev_msg.toMSec() > protocol::GlobalTimeSync::RECOMMENDED_PUBLISHER_TIMEOUT_MS;
const bool pub_timeout = since_prev_msg.toMSec() > protocol::GlobalTimeSync::RECOMMENDED_BROADCASTER_TIMEOUT_MS;
if (switch_master || pub_timeout || needs_init)
{
@@ -97,7 +97,7 @@ class UAVCAN_EXPORT GlobalTimeSyncSlave : Noncopyable
{
const bool msg_invalid = msg.previous_transmission_timestamp_usec == 0;
const bool wrong_tid = prev_tid_.computeForwardDistance(msg.getTransferID()) != 1;
const bool wrong_timing = since_prev_msg.toMSec() > protocol::GlobalTimeSync::MAX_PUBLICATION_PERIOD_MS;
const bool wrong_timing = since_prev_msg.toMSec() > protocol::GlobalTimeSync::MAX_BROADCASTING_PERIOD_MS;
if (msg_invalid || wrong_tid || wrong_timing)
{
UAVCAN_TRACE("GlobalTimeSyncSlave",
@@ -179,7 +179,7 @@ public:
{
const MonotonicDuration since_prev_adj = getSystemClock().getMonotonic() - last_adjustment_ts_;
return !last_adjustment_ts_.isZero() &&
(since_prev_adj.toMSec() <= protocol::GlobalTimeSync::RECOMMENDED_PUBLISHER_TIMEOUT_MS);
(since_prev_adj.toMSec() <= protocol::GlobalTimeSync::RECOMMENDED_BROADCASTER_TIMEOUT_MS);
}
/**