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microRTPS: add possibility to set HW or SW flow control; improve verbosity aesthetics

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This commit is contained in:
TSC21
2020-07-31 14:13:10 +01:00
committed by Nuno Marques
parent b2845c60d3
commit 2f4eff4c38
9 changed files with 158 additions and 125 deletions
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msg/templates/urtps/microRTPS_timesync.cpp.em
+4 -5
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@@ -116,7 +116,7 @@ bool TimeSync::addMeasurement(int64_t local_t1_ns, int64_t remote_t2_ns, int64_t
if (_request_reset_counter > REQUEST_RESET_COUNTER_THRESHOLD) {
reset();
std::cout << std::endl << "Timesync clock changed, resetting" << std::endl;
std::cout << "\033[1;33m[ micrortps__timesync ]\tTimesync clock changed, resetting\033[0m" << std::endl;
}
if (_num_samples == 0) {
@@ -127,7 +127,7 @@ bool TimeSync::addMeasurement(int64_t local_t1_ns, int64_t remote_t2_ns, int64_t
if (_num_samples >= WINDOW_SIZE) {
if (std::abs(measurement_offset - _offset_ns.load()) > TRIGGER_RESET_THRESHOLD_NS) {
_request_reset_counter++;
std::cout << std::endl << "Timesync offset outlier, discarding" << std::endl;
std::cout << "\033[1;33m[ micrortps__timesync ]\tTimesync offset outlier, discarding\033[0m" << std::endl;
return false;
} else {
_request_reset_counter = 0;
@@ -136,8 +136,7 @@ bool TimeSync::addMeasurement(int64_t local_t1_ns, int64_t remote_t2_ns, int64_t
// ignore if rtti > 10ms
if (rtti > 15ll * 1000ll * 1000ll) {
std::cout << std::endl
<< "RTTI too high for timesync: " << rtti / (1000ll * 1000ll) << "ms" << std::endl;
std::cout << "\033[1;33m[ micrortps__timesync ]\tRTTI too high for timesync: " << rtti / (1000ll * 1000ll) << "ms\033[0m" << std::endl;
return false;
}
@@ -168,7 +167,7 @@ void TimeSync::processTimesyncMsg(timesync_msg_t * msg) {
if (getMsgTC1(msg) > 0) {
if (!addMeasurement(getMsgTS1(msg), getMsgTC1(msg), getMonoRawTimeNSec())) {
std::cerr << "Offset not updated" << std::endl;
std::cerr << "\033[1;33m[ micrortps__timesync ]\tOffset not updated\033[0m" << std::endl;
}
} else if (getMsgTC1(msg) == 0) {