yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 09:22:18 +00:00
Code Issues Packages Projects Releases Wiki Activity

Clamp RTPS -> uorb timestamps to system time

Browse Source
This commit is contained in:
Julian Kent
2021-03-16 16:16:10 +01:00
committed by Beat Küng
parent eca4d90a91
commit 1011382098
1 changed files with 6 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
msg/templates/uorb_microcdr/microRTPS_client.cpp.em
View File

@@ -218,6 +218,7 @@ void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64
while (0 < (read = transport_node->read(&topic_ID, data_buffer, BUFFER_SIZE)))
{
total_read += read;
uint64_t read_time = hrt_absolute_time();
switch (topic_ID)
{
@[for idx, topic in enumerate(recv_topics)]@
@@ -225,6 +226,11 @@ void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64
{
@(receive_base_types[idx])_s @(topic)_data;
deserialize_@(receive_base_types[idx])(&reader, &@(topic)_data, data_buffer);
if (@(topic)_data.timestamp > read_time)
{
// don't allow timestamps from the future
@(topic)_data.timestamp = read_time;
}
pubs->@(topic)_pub.publish(@(topic)_data);
++received;
}