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GlobalTimeSyncSlave: methods isActive(), getMasterNodeID()

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This commit is contained in:
Pavel Kirienko
2014-03-24 10:53:41 +04:00
parent d56d5d5dca
commit 438340ae98
3 changed files with 49 additions and 0 deletions
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libuavcan/src/protocol/global_time_sync_slave.cpp
+12
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@@ -19,6 +19,7 @@ void GlobalTimeSyncSlave::adjustFromMsg(const ReceivedDataStructure<protocol::Gl
int(msg.getSrcNodeID().get()), int(msg.getIfaceIndex()));
getSystemClock().adjustUtc(adjustment);
last_adjustment_ts_ = msg.getMonotonicTimestamp();
state = Update;
}
@@ -84,4 +85,15 @@ int GlobalTimeSyncSlave::start()
return sub_.start(GlobalTimeSyncCallback(this, &GlobalTimeSyncSlave::handleGlobalTimeSync));
}
bool GlobalTimeSyncSlave::isActive() const
{
const MonotonicDuration since_prev_adj = getSystemClock().getMonotonic() - last_adjustment_ts_;
return !last_adjustment_ts_.isZero() && since_prev_adj.toMSec() <= protocol::GlobalTimeSync::PUBLISHER_TIMEOUT_MS;
}
NodeID GlobalTimeSyncSlave::getMasterNodeID() const
{
return isActive() ? master_nid_ : NodeID();
}
}