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TSC21
c478e2985a
1. The RTPS IDs are now automatically assigned to the topics 2. Only the topics that get defined to be sent or received in the urtps_bridge_topics.yaml (renamed, since now it doesn't contain IDs) receive the IDs 3. Any addition or removal on the urtps_bridge_topics.yaml file might update the topic IDs - this will require that the agent and the client ID list has to be in sync. This will further require a robustification of the way we check the IDs and the message definitions when starting the bridge.
305 lines
12 KiB
Plaintext
305 lines
12 KiB
Plaintext
@###############################################
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@#
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@# EmPy template for generating microRTPS_timesync.h file
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@#
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@###############################################
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@# Start of Template
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@#
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@# Context:
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@# - msgs (List) list of all msg files
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@# - multi_topics (List) list of all multi-topic names
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@# - ids (List) list of all RTPS msg ids
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@###############################################
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@{
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import genmsg.msgs
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from packaging import version
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from px_generate_uorb_topic_files import MsgScope # this is in Tools/
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package = package[0]
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fastrtps_version = fastrtps_version[0]
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try:
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ros2_distro = ros2_distro[0].decode("utf-8")
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except AttributeError:
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ros2_distro = ros2_distro[0]
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}@
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/****************************************************************************
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*
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* Copyright (c) 2020-2021 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 are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its contributors
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* may be used to endorse or promote products derived from this software without
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* specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN 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 microRTPS_timesync.h
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* @@brief Adds time sync for the microRTPS bridge
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* @@author Nuno Marques <nuno.marques@@dronesolutions.io>
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* @@author Julian Kent <julian@@auterion.com>
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*/
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#pragma once
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#include <atomic>
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#include <functional>
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#include <thread>
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@[if ros2_distro]@
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#include "Timesync_Publisher.h"
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#include "TimesyncStatus_Publisher.h"
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#include <rcl/time.h>
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#include <rclcpp/clock.hpp>
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#include <rclcpp/rclcpp.hpp>
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@[else]@
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#include "timesync_Publisher.h"
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#include "timesync_status_Publisher.h"
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@[end if]@
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static constexpr double ALPHA_INITIAL = 0.05;
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static constexpr double ALPHA_FINAL = 0.003;
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static constexpr double BETA_INITIAL = 0.05;
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static constexpr double BETA_FINAL = 0.003;
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static constexpr int WINDOW_SIZE = 500;
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static constexpr int64_t UNKNOWN = 0;
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static constexpr int64_t TRIGGER_RESET_THRESHOLD_NS = 100ll * 1000ll * 1000ll;
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static constexpr int REQUEST_RESET_COUNTER_THRESHOLD = 5;
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@# Sets the timesync DDS type according to the FastRTPS and ROS2 version
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@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
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@[ if ros2_distro]@
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using timesync_msg_t = @(package)::msg::dds_::Timesync_;
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using timesync_status_msg_t = @(package)::msg::dds_::TimesyncStatus_;
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@[ else]@
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using timesync_msg_t = timesync_;
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using timesync_status_msg_t = timesync_status_;
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@[ end if]@
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@[else]@
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@[ if ros2_distro]@
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using timesync_msg_t = @(package)::msg::Timesync;
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using timesync_status_msg_t = @(package)::msg::TimesyncStatus;
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@[ else]@
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using timesync_msg_t = timesync;
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using timesync_status_msg_t = timesync_status;
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@[ end if]@
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@[end if]@
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@# Sets the timesync publisher entity depending on using ROS2 or not
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@[if ros2_distro]@
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using TimesyncPublisher = Timesync_Publisher;
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using TimesyncStatusPublisher = TimesyncStatus_Publisher;
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@[else]@
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using TimesyncPublisher = timesync_Publisher;
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using TimesyncStatusPublisher = timesync_status_Publisher;
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@[end if]@
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class TimeSync
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{
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public:
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TimeSync(bool debug);
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virtual ~TimeSync();
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/**
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* @@brief Starts the timesync publishing thread
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* @@param[in] pub The timesync publisher entity to use
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*/
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void start(TimesyncPublisher *pub);
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/**
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* @@brief Init and run the timesync status publisher thread
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* @@param[in] pub The timesync status publisher entity to use
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*/
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void init_status_pub(TimesyncStatusPublisher *status_pub);
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/**
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* @@brief Resets the filter
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*/
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void reset();
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/**
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* @@brief Stops the timesync publishing thread
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*/
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void stop();
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@[if ros2_distro]@
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/**
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* @@brief Get ROS time in nanoseconds. This will match the system time, which
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* corresponds to the system-wide real time since epoch. If use_sim_time
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* is set, the simulation time is grabbed by the node and used instead
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* More info about ROS2 clock and time in:
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* https://design.ros2.org/articles/clock_and_time.html
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* @@return ROS time in nanoseconds
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*/
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uint64_t getROSTimeNSec() const;
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/**
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* @@brief Get ROS time in microseconds. Fetches the time from getROSTimeNSec()
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* and converts it to microseconds
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* @@return ROS time in microseconds
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*/
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uint64_t getROSTimeUSec() const;
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@[else]@
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/**
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* @@brief Get clock monotonic time (raw) in nanoseconds
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* @@return Steady CLOCK_MONOTONIC time in nanoseconds
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*/
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uint64_t getSteadyTimeNSec() const;
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/**
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* @@brief Get clock monotonic time (raw) in microseconds
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* @@return Steady CLOCK_MONOTONIC time in microseconds
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*/
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uint64_t getSteadyTimeUSec() const;
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@[end if]@
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/**
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* @@brief Adds a time offset measurement to be filtered
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* @@param[in] local_t1_ns The agent CLOCK_MONOTONIC_RAW time in nanoseconds when the message was sent
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* @@param[in] remote_t2_ns The (client) remote CLOCK_MONOTONIC time in nanoseconds
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* @@param[in] local_t3_ns The agent current CLOCK_MONOTONIC time in nanoseconds
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* @@return true or false depending if the time offset was updated
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*/
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bool addMeasurement(int64_t local_t1_ns, int64_t remote_t2_ns, int64_t local_t3_ns);
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/**
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* @@brief Processes DDS timesync message
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* @@param[in,out] msg The timestamp msg to be processed
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*/
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void processTimesyncMsg(timesync_msg_t *msg, TimesyncPublisher *pub);
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/**
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* @@brief Creates a new timesync DDS message to be sent from the agent to the client
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* @@return A new timesync message with the origin in the agent and with the agent timestamp
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*/
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timesync_msg_t newTimesyncMsg();
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/**
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* @@brief Creates a new timesync status DDS message to be sent from the agent to the client
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* @@return A new timesync status message with the origin in the agent and with the agent timestamp
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*/
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timesync_status_msg_t newTimesyncStatusMsg();
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/**
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* @@brief Get the time sync offset in nanoseconds
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* @@return The offset in nanoseconds
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*/
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inline int64_t getOffset() { return _offset_ns.load(); }
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/**
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* @@brief Sums the time sync offset to the timestamp
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* @@param[in,out] timestamp The timestamp to add the offset to
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*/
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inline void addOffset(uint64_t ×tamp) { timestamp = (timestamp * 1000LL + _offset_ns.load()) / 1000ULL; }
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/**
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* @@brief Substracts the time sync offset to the timestamp
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* @@param[in,out] timestamp The timestamp to subtract the offset of
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*/
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inline void subtractOffset(uint64_t ×tamp) { timestamp = (timestamp * 1000LL - _offset_ns.load()) / 1000ULL; }
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private:
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std::atomic<int64_t> _offset_ns;
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std::atomic<int64_t> _offset_prev;
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std::atomic<uint64_t> _remote_time_stamp;
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std::atomic<uint32_t> _rtti;
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@[if ros2_distro]@
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/**
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* @@brief A ROS2 node to fetch the ROS time to be used for timesync
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*/
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std::shared_ptr<rclcpp::Node> _timesync_node;
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@[end if]@
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int64_t _skew_ns_per_sync;
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int64_t _num_samples;
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int32_t _request_reset_counter;
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uint8_t _last_msg_seq;
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uint8_t _last_remote_msg_seq;
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bool _debug;
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std::unique_ptr<std::thread> _send_timesync_thread;
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std::unique_ptr<std::thread> _send_timesync_status_thread;
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@[if ros2_distro]@
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std::unique_ptr<std::thread> _timesync_node_thread;
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@[end if]@
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std::atomic<bool> _request_stop{false};
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/**
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* @@brief Updates the offset of the time sync filter
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* @@param[in] offset The value of the offset to update to
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*/
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inline void updateOffset(const uint64_t &offset) { _offset_ns.store(offset, std::memory_order_relaxed); }
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/** Timesync msg Getters **/
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@[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@
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inline uint64_t getMsgTimestamp(const timesync_msg_t *msg) { return msg->timestamp_(); }
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inline uint8_t getMsgSeq(const timesync_msg_t *msg) { return msg->seq_(); }
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inline int64_t getMsgTC1(const timesync_msg_t *msg) { return msg->tc1_(); }
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inline int64_t getMsgTS1(const timesync_msg_t *msg) { return msg->ts1_(); }
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@[elif ros2_distro]@
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inline uint64_t getMsgTimestamp(const timesync_msg_t *msg) { return msg->timestamp(); }
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inline uint8_t getMsgSeq(const timesync_msg_t *msg) { return msg->seq(); }
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inline int64_t getMsgTC1(const timesync_msg_t *msg) { return msg->tc1(); }
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inline int64_t getMsgTS1(const timesync_msg_t *msg) { return msg->ts1(); }
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@[end if]@
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/** Common timestamp setter **/
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@[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@
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template <typename T>
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inline void setMsgTimestamp(T *msg, const uint64_t ×tamp) { msg->timestamp_() = timestamp; }
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@[elif ros2_distro]@
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template <typename T>
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inline void setMsgTimestamp(T *msg, const uint64_t ×tamp) { msg->timestamp() = timestamp; }
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@[end if]@
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/** Timesync msg Setters **/
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@[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@
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inline void setMsgSeq(timesync_msg_t *msg, const uint8_t &seq) { msg->seq_() = seq; }
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inline void setMsgTC1(timesync_msg_t *msg, const int64_t &tc1) { msg->tc1_() = tc1; }
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inline void setMsgTS1(timesync_msg_t *msg, const int64_t &ts1) { msg->ts1_() = ts1; }
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@[elif ros2_distro]@
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inline void setMsgSeq(timesync_msg_t *msg, const uint8_t &seq) { msg->seq() = seq; }
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inline void setMsgTC1(timesync_msg_t *msg, const int64_t &tc1) { msg->tc1() = tc1; }
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inline void setMsgTS1(timesync_msg_t *msg, const int64_t &ts1) { msg->ts1() = ts1; }
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@[end if]@
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/** Timesync Status msg Setters **/
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@[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@
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inline void setMsgSourceProtocol(timesync_status_msg_t *msg, const uint8_t &source_protocol) { msg->source_protocol_() = source_protocol; }
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inline void setMsgRemoteTimeStamp(timesync_status_msg_t *msg, const uint64_t &remote_timestamp) { msg->remote_timestamp_() = remote_timestamp; }
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inline void setMsgObservedOffset(timesync_status_msg_t *msg, const int64_t &observed_offset) { msg->observed_offset_() = observed_offset; }
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inline void setMsgEstimatedOffset(timesync_status_msg_t *msg, const int64_t &estimated_offset) { msg->estimated_offset_() = estimated_offset; }
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inline void setMsgRoundTripTime(timesync_status_msg_t *msg, const uint32_t &round_trip_time) { msg->round_trip_time_() = round_trip_time; }
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@[elif ros2_distro]@
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inline void setMsgSourceProtocol(timesync_status_msg_t *msg, const uint8_t &source_protocol) { msg->source_protocol() = source_protocol; }
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inline void setMsgRemoteTimeStamp(timesync_status_msg_t *msg, const uint64_t &remote_timestamp) { msg->remote_timestamp() = remote_timestamp; }
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inline void setMsgObservedOffset(timesync_status_msg_t *msg, const int64_t &observed_offset) { msg->observed_offset() = observed_offset; }
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inline void setMsgEstimatedOffset(timesync_status_msg_t *msg, const int64_t &estimated_offset) { msg->estimated_offset() = estimated_offset; }
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inline void setMsgRoundTripTime(timesync_status_msg_t *msg, const uint32_t &round_trip_time) { msg->round_trip_time() = round_trip_time; }
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@[end if]@
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};
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