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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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libuavcan/src/protocol/uc_global_time_sync_master.cpp
+3 -2
View File
@@ -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
View File
@@ -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)