microRTPS: add timesync handshake

2026-10-20 13:23:35 +08:00 · 2020-03-10 12:15:18 +00:00
parent e3e607f600
commit 67491b473c
5 changed files with 37 additions and 38 deletions
@@ -124,6 +124,9 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
@[    end if]@
            // apply timestamp offset
            _timesync->applyOffset(st.timestamp());
+@[    if topic == 'Timesync' or topic == 'timesync']@
+            if (st.sys_id() == 1)
+@[    end if]@
            _@(topic)_pub.publish(&st);
        }
        break;