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chore(uxrce_dds_client): merge SYNCC and SYNCT into CTRL

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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
Beniamino Pozzan
2025-11-30 17:56:45 +00:00
parent 0985c22701
commit 70d6528a9b
3 changed files with 18 additions and 23 deletions
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src/modules/uxrce_dds_client/module.yaml
+9 -18
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@@ -85,26 +85,17 @@ parameters:
max: 2
default: 0
UXRCE_DDS_SYNCT:
UXRCE_DDS_CTRL:
description:
short: Enable uXRCE-DDS timestamp synchronization
long: When enabled, uxrce_dds_client will synchronize the timestamps
of the incoming and outgoing messages measuring the offset
between the Agent OS time and the PX4 time.
type: boolean
category: System
reboot_required: true
short: UXRCE_DDS_CLIENT control flags
long: 'Set bits in the following positions to enable: 0 : timestamp sync 1 : system time sync'
type: bitmask
bit:
0: Timestamp Synchronization
1: System Clock Synchronization
default: 1
UXRCE_DDS_SYNCC:
description:
short: Enable uXRCE-DDS system clock synchronization
long: When enabled along with UXRCE_DDS_SYNCT, uxrce_dds_client will
set the system clock using the agents UTC timestamp.
type: boolean
category: System
reboot_required: true
default: 0
min: 0
max: 3
UXRCE_DDS_TX_TO:
description:
src/modules/uxrce_dds_client/uxrce_dds_client.cpp
+3 -3
View File
@@ -203,7 +203,7 @@ void UxrceddsClient::deinit()
bool UxrceddsClient::setupSession(uxrSession *session)
{
_participant_config = static_cast<ParticipantConfig>(_param_uxrce_dds_ptcfg.get());
_synchronize_timestamps = (_param_uxrce_dds_synct.get() > 0);
_synchronize_timestamps = (_param_uxrce_dds_ctrl.get() & static_cast<int32_t>(Ctrl::kTimestampSync));
bool got_response = false;
@@ -331,7 +331,7 @@ bool UxrceddsClient::setupSession(uxrSession *session)
if (_timesync.sync_converged()) {
PX4_INFO("synchronized with time offset %-5" PRId64 "us", session->time_offset / 1000);
if (_param_uxrce_dds_syncc.get() > 0) {
if (_param_uxrce_dds_ctrl.get() & static_cast<int32_t>(Ctrl::kSystemClockSync)) {
syncSystemClock(session);
}
@@ -686,7 +686,7 @@ void UxrceddsClient::run()
if (uxr_sync_session(&session, 10) && _timesync.sync_converged()) {
last_sync_session = hrt_absolute_time();
if (_param_uxrce_dds_syncc.get() > 0) {
if (_param_uxrce_dds_ctrl.get() & static_cast<int32_t>(Ctrl::kSystemClockSync)) {
syncSystemClock(&session);
}
}
src/modules/uxrce_dds_client/uxrce_dds_client.h
+6 -2
View File
@@ -203,12 +203,16 @@ private:
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")};
enum class Ctrl : uint8_t {
kTimestampSync = (1 << 0),
kSystemClockSync = (1 << 1)
};
DEFINE_PARAMETERS(
(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,
(ParamInt<px4::params::UXRCE_DDS_CTRL>) _param_uxrce_dds_ctrl,
(ParamInt<px4::params::UXRCE_DDS_TX_TO>) _param_uxrce_dds_tx_to,
(ParamInt<px4::params::UXRCE_DDS_RX_TO>) _param_uxrce_dds_rx_to
)