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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/test/protocol/global_time_sync_slave.cpp
+8 -8
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@@ -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());