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168 lines
5.0 KiB
168 lines
5.0 KiB
@############################################### |
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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 px_generate_uorb_topic_helper import * # this is in Tools/ |
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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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fastrtpsgen_version = fastrtpsgen_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 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 "Timesync_Subscriber.h" |
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@[else]@ |
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#include "timesync_Publisher.h" |
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#include "timesync_Subscriber.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_INTIIAL = 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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class TimeSync { |
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public: |
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TimeSync(); |
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virtual ~TimeSync(); |
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@[if ros2_distro]@ |
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void start(const Timesync_Publisher* pub); |
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@[else]@ |
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void start(const timesync_Publisher* pub); |
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@[end if]@ |
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void reset(); |
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void stop(); |
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void setNewOffsetCB(std::function<void(int64_t)> callback); |
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/** |
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* Returns clock monotonic time in nanoseconds |
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*/ |
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inline int64_t getSystemMonoNanos() { |
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timespec t; |
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clock_gettime(CLOCK_MONOTONIC_RAW, &t); |
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return (int64_t)t.tv_sec * 1000000000ll + t.tv_nsec; |
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} |
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/** |
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* Returns system realtime in seconds |
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*/ |
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inline uint64_t getSystemTime() { |
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timespec t; |
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clock_gettime(CLOCK_REALTIME, &t); |
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return (uint64_t)t.tv_sec + t.tv_nsec; |
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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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@[if 1.5 <= fastrtpsgen_version <= 1.7]@ |
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@[ if ros2_distro]@ |
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void processTimesyncMsg(const @(package)::msg::dds_::Timesync_* msg); |
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@(package)::msg::dds_::Timesync_ newTimesyncMsg(); |
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@[ else]@ |
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void processTimesyncMsg(const timesync_* msg); |
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timesync_ newTimesyncMsg(); |
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@[ end if]@ |
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@[else]@ |
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@[ if ros2_distro]@ |
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void processTimesyncMsg(const @(package)::msg::Timesync* msg); |
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@(package)::msg::Timesync newTimesyncMsg(); |
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@[ else]@ |
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void processTimesyncMsg(const timesync* msg); |
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timesync newTimesyncMsg(); |
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@[ end if]@ |
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@[end if]@ |
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inline void applyOffset(uint64_t ×tamp) { timestamp += _offset_ns.load(); } |
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private: |
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std::atomic<int64_t> _offset_ns; |
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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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@[if ros2_distro]@ |
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Timesync_Publisher _timesync_pub; |
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Timesync_Subscriber _timesync_sub; |
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@[else]@ |
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timesync_Publisher _timesync_pub; |
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timesync_Subscriber _timesync_sub; |
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@[end if]@ |
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std::unique_ptr<std::thread> _send_timesync_thread; |
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std::atomic<bool> _request_stop{false}; |
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std::function<void(int64_t)> _notifyNewOffset; |
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};
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