mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 12:13:35 +08:00
Daniel Agar
cea185268e
- 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)
67 lines
2.3 KiB
C++
67 lines
2.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 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 mavlink_timesync.h
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* Mavlink 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 "mavlink_bridge_header.h"
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#include <lib/timesync/Timesync.hpp>
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class Mavlink;
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class MavlinkTimesync
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{
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public:
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explicit MavlinkTimesync(Mavlink *mavlink);
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~MavlinkTimesync() = default;
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void handle_message(const mavlink_message_t *msg);
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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) { return _timesync.sync_stamp(usec); }
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private:
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Mavlink *const _mavlink;
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Timesync _timesync{};
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};
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