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RTPS: adjust timestamp_sample in urtps_agent

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This commit is contained in:
Ildar Sadykov
2021-02-17 13:19:05 +01:00
committed by Nuno Marques
parent e48a869160
commit 51dd141c86
2 changed files with 44 additions and 1 deletions
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msg/templates/urtps/RtpsTopics.cpp.em
+4 -1
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@@ -139,10 +139,13 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
@[ if topic == 'Timesync' or topic == 'timesync']@
if (getMsgSysID(&msg) == 0) {
@[ end if]@
// apply timestamp offset
// apply timestamps offset
uint64_t timestamp = getMsgTimestamp(&msg);
uint64_t timestamp_sample = getMsgTimestampSample(&msg);
_timesync->addOffset(timestamp);
setMsgTimestamp(&msg, timestamp);
_timesync->addOffset(timestamp_sample);
setMsgTimestampSample(&msg, timestamp_sample);
msg.serialize(scdr);
ret = true;
@[ if topic == 'Timesync' or topic == 'timesync']@