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ucdr msg template add timestamp protections

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- if timestamp (or timestamp_sample) unpopulated fill it with current hrt_absolute_time()
 - if using provided timestamp don't allow it to exceed current hrt_absolute_time()
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Daniel Agar 2023-03-02 09:52:53 -05:00 committed by GitHub
parent 0770478dc7
commit 74130d7f71
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1 changed files with 2 additions and 1 deletions
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3
Tools/msg/templates/ucdr/msg.h.em
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@ -164,7 +164,8 @@ for field_type, field_name, field_size, padding in fields:
print('\tmemcpy(&topic.{0}, buf.iterator, sizeof(topic.{0}));'.format(field_name))
if field_type == 'uint64' and (field_name == 'timestamp' or field_name == 'timestamp_sample'):
print('\ttopic.{0} -= time_offset;'.format(field_name))
print('\tif (topic.{0} == 0) topic.{0} = hrt_absolute_time();'.format(field_name, field_name))
print('\telse topic.{0} = math::min(topic.{0} - time_offset, hrt_absolute_time());'.format(field_name, field_name))
print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))