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Time synchronization message update: 1. field prev_utc_usec renamed to a more human-readable name; 2. UTC is no longer required, but rather recommended

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This commit is contained in:
Pavel Kirienko
2015-03-18 23:32:58 +03:00
parent 7946ddd5bc
commit 62dd626025
4 changed files with 22 additions and 19 deletions
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dsdl/uavcan/protocol/0.GlobalTimeSync.uavcan
+8 -6
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@@ -1,15 +1,17 @@
#
# Global time synchronization.
# Should be UTC time, not GPS time nor local time.
# Preferred time is UTC.
# Any node that publishes timestamped data must use this time reference.
# This message is not intended for unicast transfers.
#
# Please refer to the specification to learn about time synchronization algorithm.
#
uint16 MAX_PUBLICATION_PERIOD_MS = 1100
uint16 MIN_PUBLICATION_PERIOD_MS = 350
uint16 MAX_PUBLICATION_PERIOD_MS = 1100 # Milliseconds
uint16 MIN_PUBLICATION_PERIOD_MS = 350 # Milliseconds
uint16 PUBLISHER_TIMEOUT_MS = 10000
uint16 PUBLISHER_TIMEOUT_MS = 10000 # Milliseconds
# UTC time in microseconds when the PREVIOUS GlobalTimeSync message was transmitted.
# Time in microseconds when the PREVIOUS GlobalTimeSync message was transmitted.
# If this message is the first one, this field must be zero.
uint64 prev_utc_usec
uint64 previous_transmission_timestamp_usec # Microseconds
libuavcan/src/protocol/uc_global_time_sync_master.cpp
+3 -2
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@@ -56,11 +56,12 @@ int GlobalTimeSyncMaster::IfaceMaster::publish(TransferID tid, MonotonicTime cur
const bool long_period = since_prev_pub.toMSec() >= protocol::GlobalTimeSync::MAX_PUBLICATION_PERIOD_MS;
protocol::GlobalTimeSync msg;
msg.prev_utc_usec = long_period ? 0 : prev_tx_utc_.toUSec();
msg.previous_transmission_timestamp_usec = long_period ? 0 : prev_tx_utc_.toUSec();
prev_tx_utc_ = UtcTime();
UAVCAN_TRACE("GlobalTimeSyncMaster", "Publishing %llu iface=%i tid=%i",
static_cast<unsigned long long>(msg.prev_utc_usec), int(iface_index_), int(tid.get()));
static_cast<unsigned long long>(msg.previous_transmission_timestamp_usec),
int(iface_index_), int(tid.get()));
return pub_.broadcast(msg, tid);
}
libuavcan/src/protocol/uc_global_time_sync_slave.cpp
+3 -3
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@@ -11,8 +11,8 @@ namespace uavcan
void GlobalTimeSyncSlave::adjustFromMsg(const ReceivedDataStructure<protocol::GlobalTimeSync>& msg)
{
UAVCAN_ASSERT(msg.prev_utc_usec > 0);
const UtcDuration adjustment = UtcTime::fromUSec(msg.prev_utc_usec) - prev_ts_utc_;
UAVCAN_ASSERT(msg.previous_transmission_timestamp_usec > 0);
const UtcDuration adjustment = UtcTime::fromUSec(msg.previous_transmission_timestamp_usec) - prev_ts_utc_;
UAVCAN_TRACE("GlobalTimeSyncSlave", "Adjustment: usec=%lli snid=%i iface=%i suppress=%i",
static_cast<long long>(adjustment.toUSec()),
@@ -58,7 +58,7 @@ void GlobalTimeSyncSlave::processMsg(const ReceivedDataStructure<protocol::Globa
{
if (state_ == Adjust)
{
const bool msg_invalid = msg.prev_utc_usec == 0;
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;
if (msg_invalid || wrong_tid || wrong_timing)
libuavcan/test/protocol/global_time_sync_slave.cpp
+8 -8
View File
@@ -37,9 +37,9 @@ TEST(GlobalTimeSyncSlave, Basic)
* The slave must only register the timestamp and adjust nothing
*/
uavcan::protocol::GlobalTimeSync gts;
gts.prev_utc_usec = 0;
gts.previous_transmission_timestamp_usec = 0;
gts_pub.broadcast(gts);
gts.prev_utc_usec = master_clock.utc;
gts.previous_transmission_timestamp_usec = master_clock.utc;
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_EQ(0, slave_clock.utc);
ASSERT_EQ(1000000, master_clock.utc);
@@ -54,7 +54,7 @@ TEST(GlobalTimeSyncSlave, Basic)
* Slave must adjust now
*/
gts_pub.broadcast(gts);
gts.prev_utc_usec = master_clock.utc;
gts.previous_transmission_timestamp_usec = master_clock.utc;
nodes.spinBoth(uavcan::MonotonicDuration());
ASSERT_EQ(1000000, slave_clock.utc);
ASSERT_EQ(1000000, master_clock.utc);
@@ -72,7 +72,7 @@ TEST(GlobalTimeSyncSlave, Basic)
* Will update
*/
gts_pub.broadcast(gts);
gts.prev_utc_usec = master_clock.utc;
gts.previous_transmission_timestamp_usec = master_clock.utc;
nodes.spinBoth(uavcan::MonotonicDuration());
ASSERT_EQ(2000000, slave_clock.utc);
ASSERT_EQ(2000000, master_clock.utc);
@@ -88,7 +88,7 @@ TEST(GlobalTimeSyncSlave, Basic)
* Will adjust
*/
gts_pub.broadcast(gts);
gts.prev_utc_usec = master_clock.utc;
gts.previous_transmission_timestamp_usec = master_clock.utc;
nodes.spinBoth(uavcan::MonotonicDuration());
ASSERT_EQ(3000000, slave_clock.utc);
ASSERT_EQ(3000000, master_clock.utc);
@@ -117,9 +117,9 @@ TEST(GlobalTimeSyncSlave, Basic)
/*
* Update step, no adjustment yet
*/
gts.prev_utc_usec = 0;
gts.previous_transmission_timestamp_usec = 0;
gts_pub2.broadcast(gts);
gts.prev_utc_usec = master2_clock.utc;
gts.previous_transmission_timestamp_usec = master2_clock.utc;
nodes.spinBoth(uavcan::MonotonicDuration());
ASSERT_EQ(4000000, slave_clock.utc);
ASSERT_EQ(100, master2_clock.utc);
@@ -142,7 +142,7 @@ TEST(GlobalTimeSyncSlave, Basic)
/*
* Another master will be ignored now
*/
gts.prev_utc_usec = 99999999;
gts.previous_transmission_timestamp_usec = 99999999;
// Update
gts_pub.broadcast(gts);
nodes.spinBoth(uavcan::MonotonicDuration());