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Fixed time synchronization master: publishing to all ifaces with the same Transfer ID

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Pavel Kirienko
2014-04-01 23:01:34 +04:00
parent 943b50bdf0
commit 53c870a950
2 changed files with 64 additions and 28 deletions
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libuavcan/include/uavcan/protocol/global_time_sync_master.hpp
+4 -1
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@@ -37,16 +37,19 @@ class GlobalTimeSyncMaster : protected LoopbackFrameListenerBase
void setTxTimestamp(UtcTime ts);
int publish();
int publish(TransferID tid, MonotonicTime current_time);
};
INode& node_;
LazyConstructor<IfaceMaster> iface_masters_[MaxCanIfaces];
MonotonicTime prev_pub_mono_;
DataTypeID dtid_;
bool initialized_;
void handleLoopbackFrame(const RxFrame& frame);
int getNextTransferID(TransferID& tid);
public:
explicit GlobalTimeSyncMaster(INode& node)
: LoopbackFrameListenerBase(node.getDispatcher())