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msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge
- update all msgs to be directly compatible with ROS2 - microdds_client improvements - timesync - reduced code size - add to most default builds if we can afford it - lots of other little changes - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
This commit is contained in:
Daniel Agar
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############################################################################
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#
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# Copyright (c) 2022 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_library(timesync
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Timesync.cpp
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Timesync.hpp
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)
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target_link_libraries(timesync)
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@@ -0,0 +1,168 @@
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/****************************************************************************
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*
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* Copyright (c) 2018-2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file timesync.cpp
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* timesync implementation.
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*
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* @author Mohammed Kabir <mhkabir98@gmail.com>
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*/
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#include "Timesync.hpp"
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#include <stdlib.h>
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void Timesync::update(const uint64_t now_us, const int64_t remote_timestamp_ns, const int64_t originate_timestamp_ns)
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{
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// Message originating from this system, compute time offset from it
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if (remote_timestamp_ns > 0) {
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// Calculate time offset between this system and the remote system, assuming RTT for
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// the timesync packet is roughly equal both ways.
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int64_t offset_us = (int64_t)((originate_timestamp_ns / 1000ULL) + now_us - (remote_timestamp_ns / 1000ULL) * 2) / 2 ;
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// Calculate the round trip time (RTT) it took the timesync packet to bounce back to us from remote system
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uint64_t rtt_us = now_us - (originate_timestamp_ns / 1000ULL);
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// Calculate the difference of this sample from the current estimate
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uint64_t deviation = llabs((int64_t)_time_offset - offset_us);
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if (rtt_us < MAX_RTT_SAMPLE) { // Only use samples with low RTT
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if (sync_converged() && (deviation > MAX_DEVIATION_SAMPLE)) {
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// Increment the counter if we have a good estimate and are getting samples far from the estimate
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_high_deviation_count++;
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// We reset the filter if we received 5 consecutive samples which violate our present estimate.
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// This is most likely due to a time jump on the offboard system.
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if (_high_deviation_count > MAX_CONSECUTIVE_HIGH_DEVIATION) {
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PX4_ERR("Time jump detected. Resetting time synchroniser.");
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// Reset the filter
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reset_filter();
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}
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} else {
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// Filter gain scheduling
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if (!sync_converged()) {
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// Interpolate with a sigmoid function
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double progress = (double)_sequence / (double)CONVERGENCE_WINDOW;
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double p = 1.0 - exp(0.5 * (1.0 - 1.0 / (1.0 - progress)));
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_filter_alpha = p * ALPHA_GAIN_FINAL + (1.0 - p) * ALPHA_GAIN_INITIAL;
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_filter_beta = p * BETA_GAIN_FINAL + (1.0 - p) * BETA_GAIN_INITIAL;
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} else {
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_filter_alpha = ALPHA_GAIN_FINAL;
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_filter_beta = BETA_GAIN_FINAL;
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}
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// Perform filter update
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add_sample(offset_us);
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// Increment sequence counter after filter update
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_sequence++;
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// Reset high deviation count after filter update
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_high_deviation_count = 0;
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// Reset high RTT count after filter update
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_high_rtt_count = 0;
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}
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} else {
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// Increment counter if round trip time is too high for accurate timesync
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_high_rtt_count++;
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if (_high_rtt_count > MAX_CONSECUTIVE_HIGH_RTT) {
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PX4_WARN("RTT too high for timesync: %llu ms", rtt_us / 1000ULL);
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// Reset counter to rate-limit warnings
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_high_rtt_count = 0;
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}
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}
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// Publish status message
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timesync_status_s tsync_status{};
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tsync_status.source_protocol = _source;
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tsync_status.remote_timestamp = remote_timestamp_ns / 1000ULL;
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tsync_status.observed_offset = offset_us;
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tsync_status.estimated_offset = (int64_t)_time_offset;
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tsync_status.round_trip_time = rtt_us;
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tsync_status.timestamp = hrt_absolute_time();
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_timesync_status_pub.publish(tsync_status);
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}
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}
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uint64_t Timesync::sync_stamp(uint64_t usec)
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{
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// Only return synchronised stamp if we have converged to a good value
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if (sync_converged()) {
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return usec + (int64_t)_time_offset;
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} else {
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return hrt_absolute_time();
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}
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}
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void Timesync::add_sample(int64_t offset_us)
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{
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// Online exponential smoothing filter. The derivative of the estimate is also
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// estimated in order to produce an estimate without steady state lag:
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// https://en.wikipedia.org/wiki/Exponential_smoothing#Double_exponential_smoothing
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double time_offset_prev = _time_offset;
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if (_sequence == 0) {
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// First offset sample
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_time_offset = offset_us;
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} else {
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// Update the clock offset estimate
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_time_offset = _filter_alpha * offset_us + (1.0 - _filter_alpha) * (_time_offset + _time_skew);
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// Update the clock skew estimate
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_time_skew = _filter_beta * (_time_offset - time_offset_prev) + (1.0 - _filter_beta) * _time_skew;
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}
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}
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void Timesync::reset_filter()
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{
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// Do a full reset of all statistics and parameters
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_sequence = 0;
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_time_offset = 0.0;
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_time_skew = 0.0;
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_filter_alpha = ALPHA_GAIN_INITIAL;
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_filter_beta = BETA_GAIN_INITIAL;
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_high_deviation_count = 0;
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_high_rtt_count = 0;
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}
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@@ -0,0 +1,144 @@
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/****************************************************************************
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*
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* Copyright (c) 2018-2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Timesync.hpp
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* time synchroniser definition.
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*
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* @author Mohammed Kabir <mhkabir98@gmail.com>
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*/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/timesync_status.h>
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#include <math.h>
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#include <float.h>
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using namespace time_literals;
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static constexpr time_t PX4_EPOCH_SECS = 1234567890ULL;
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// Filter gains
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//
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// Alpha : Used to smooth the overall clock offset estimate. Smaller values will lead
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// to a smoother estimate, but track time drift more slowly, introducing a bias
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// in the estimate. Larger values will cause low-amplitude oscillations.
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//
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// Beta : Used to smooth the clock skew estimate. Smaller values will lead to a
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// tighter estimation of the skew (derivative), but will negatively affect how fast the
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// filter reacts to clock skewing (e.g cause by temperature changes to the oscillator).
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// Larger values will cause large-amplitude oscillations.
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static constexpr double ALPHA_GAIN_INITIAL = 0.05;
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static constexpr double BETA_GAIN_INITIAL = 0.05;
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static constexpr double ALPHA_GAIN_FINAL = 0.003;
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static constexpr double BETA_GAIN_FINAL = 0.003;
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// Filter gain scheduling
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//
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// The filter interpolates between the INITIAL and FINAL gains while the number of
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// exhanged timesync packets is less than CONVERGENCE_WINDOW. A lower value will
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// allow the timesync to converge faster, but with potentially less accurate initial
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// offset and skew estimates.
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static constexpr uint32_t CONVERGENCE_WINDOW = 500;
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// Outlier rejection and filter reset
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//
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// Samples with round-trip time higher than MAX_RTT_SAMPLE are not used to update the filter.
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// More than MAX_CONSECUTIVE_HIGH_RTT number of such events in a row will throw a warning
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// but not reset the filter.
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// Samples whose calculated clock offset is more than MAX_DEVIATION_SAMPLE off from the current
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// estimate are not used to update the filter. More than MAX_CONSECUTIVE_HIGH_DEVIATION number
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// of such events in a row will reset the filter. This usually happens only due to a time jump
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// on the remote system.
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// TODO : automatically determine these using ping statistics?
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static constexpr uint64_t MAX_RTT_SAMPLE = 10_ms;
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static constexpr uint64_t MAX_DEVIATION_SAMPLE = 100_ms;
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static constexpr uint32_t MAX_CONSECUTIVE_HIGH_RTT = 5;
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static constexpr uint32_t MAX_CONSECUTIVE_HIGH_DEVIATION = 5;
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class Timesync
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{
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public:
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Timesync(uint8_t source = timesync_status_s::SOURCE_PROTOCOL_UNKNOWN) : _source(source) {};
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~Timesync() = default;
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void update(const uint64_t now_us, const int64_t remote_timestamp_ns, int64_t originate_timestamp_ns);
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/**
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* Convert remote timestamp to local hrt time (usec)
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* Use synchronised time if available, monotonic boot time otherwise
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*/
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uint64_t sync_stamp(uint64_t usec);
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int64_t offset() const { return (int64_t)_time_offset; }
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private:
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/**
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* Online exponential filter to smooth time offset
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*/
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void add_sample(int64_t offset_us);
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/**
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* Return true if the timesync algorithm converged to a good estimate,
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* return false otherwise
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*/
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bool sync_converged() const { return _sequence >= CONVERGENCE_WINDOW; }
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/**
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* Reset the exponential filter and its states
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*/
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void reset_filter();
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uORB::PublicationMulti<timesync_status_s> _timesync_status_pub{ORB_ID(timesync_status)};
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uint32_t _sequence{0};
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// Timesync statistics
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double _time_offset{0};
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double _time_skew{0};
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// Filter parameters
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double _filter_alpha{ALPHA_GAIN_INITIAL};
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double _filter_beta{BETA_GAIN_INITIAL};
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// Outlier rejection and filter reset
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uint32_t _high_deviation_count{0};
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uint32_t _high_rtt_count{0};
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uint8_t _source{};
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};
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