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src/modules/uxrce_dds_client: set system clock from agent CLOCK_REALTIME (#22290)

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* Added parameter UXRCE_DDS_SYNCC to enable system clock synchronization. Refactored and cleaned up. Only set system time if it's off by more than 5 seconds (same as mavlink and gps).
This commit is contained in:
Jacob Dahl
2023-11-22 22:06:11 -05:00
committed by GitHub
parent 86fbeb8a20
commit 6cc38776c8
4 changed files with 90 additions and 55 deletions
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src/modules/uxrce_dds_client/uxrce_dds_client.h
+17 -6
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@@ -57,7 +57,7 @@ public:
};
UxrceddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port,
bool localhost_only, bool custom_participant, const char *client_namespace, bool synchornize_timestamps);
const char *client_namespace);
~UxrceddsClient();
@@ -115,10 +115,18 @@ private:
uORB::Publication<message_format_response_s> _message_format_response_pub{ORB_ID(message_format_response)};
uORB::Subscription _message_format_request_sub{ORB_ID(message_format_request)};
const bool _localhost_only;
const bool _custom_participant;
/** Synchronizes the system clock if the time is off by more than 5 seconds */
void syncSystemClock(uxrSession *session);
const char *_client_namespace;
const bool _synchronize_timestamps;
enum class ParticipantConfig {
Default,
LocalHostOnly,
Custom,
} _participant_config{ParticipantConfig::Default};
bool _synchronize_timestamps;
// max port characters (5+'\0')
static const uint8_t PORT_MAX_LENGTH = 6;
@@ -148,7 +156,10 @@ private:
Timesync _timesync{timesync_status_s::SOURCE_PROTOCOL_DDS};
DEFINE_PARAMETERS(
(ParamInt<px4::params::UXRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id,
(ParamInt<px4::params::UXRCE_DDS_KEY>) _param_xrce_key
(ParamInt<px4::params::UXRCE_DDS_DOM_ID>) _param_uxrce_dds_dom_id,
(ParamInt<px4::params::UXRCE_DDS_KEY>) _param_uxrce_key,
(ParamInt<px4::params::UXRCE_DDS_PTCFG>) _param_uxrce_dds_ptcfg,
(ParamInt<px4::params::UXRCE_DDS_SYNCC>) _param_uxrce_dds_syncc,
(ParamInt<px4::params::UXRCE_DDS_SYNCT>) _param_uxrce_dds_synct
)
};