chore(uxrce_dds_client): merge SYNCC and SYNCT into CTRL

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>

src/modules/uxrce_dds_client/module.yaml

@@ -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

@@ -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

@@ -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
 	)