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microRTPS: agent: make sure that is able to subscribe a timesync stream from itself

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This commit is contained in:
TSC21
2020-03-05 15:38:18 +00:00
committed by Nuno Marques
parent cfd8e368df
commit 6dea2dd97d
3 changed files with 16 additions and 6 deletions
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4
msg/templates/urtps/RtpsTopics.cpp.em
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@@ -82,7 +82,7 @@ bool RtpsTopics::init(std::condition_variable* t_send_queue_cv, std::mutex* t_se
@[for topic in send_topics]@
if (_@(topic)_pub.init()) {
std::cout << "- @(topic) publisher started" << std::endl;
@[ if topic == 'Timesync']@
@[ if topic == 'Timesync' or topic == 'timesync']@
_timesync->start(&_@(topic)_pub);
@[ end if]@
} else {
@@ -119,7 +119,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
st.deserialize(cdr_des);
@[ if topic == 'Timesync']@
@[ if topic == 'Timesync' or topic == 'timesync']@
_timesync->processTimesyncMsg(&st);
@[ end if]@
// apply timestamp offset