Revision: 9063
http://playerstage.svn.sourceforge.net/playerstage/?rev=9063&view=rev
Author: jpgr87
Date: 2011-07-16 23:58:41 +0000 (Sat, 16 Jul 2011)
Log Message:
-----------
Applied patch #3317615: hokuyo_aist does not handle hardware timestamps properly
Modified Paths:
--------------
code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
Modified: code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/hokuyo_aist.cc 2011-07-16
23:57:00 UTC (rev 9062)
+++ code/player/trunk/server/drivers/ranger/hokuyo_aist.cc 2011-07-16
23:58:41 UTC (rev 9063)
@@ -112,7 +112,7 @@
- hw_timestamps (boolean)
- Default: false
- When false, the server will use server time stamps in data messages. When
true, the time stamp
- in the laser data will be used.
+ in the laser data will be used, offset to the current system time.
@par Example
@@ -594,7 +594,7 @@
rangeData.ranges_count = data_.ranges_length();
if (hwTimeStamps_.GetValue())
{
- double ts = data_.system_time_stamp();
+ double ts = data_.system_time_stamp() / 1000000000.0;
Publish(device_addr, PLAYER_MSGTYPE_DATA, PLAYER_RANGER_DATA_RANGE,
reinterpret_cast<void*>(&rangeData), sizeof(rangeData),
&ts);
@@ -610,7 +610,7 @@
intensityData.intensities_count = data_.intensities_length();
if (hwTimeStamps_.GetValue())
{
- double ts = data_.system_time_stamp();
+ double ts = data_.system_time_stamp() / 1000000000.0;
Publish(device_addr, PLAYER_MSGTYPE_DATA, PLAYER_RANGER_DATA_INTNS,
reinterpret_cast<void*>(&intensityData),
sizeof(intensityData), &ts);
@@ -672,7 +672,7 @@
rangeData.ranges_count = data_.ranges_length();
if (hwTimeStamps_.GetValue())
{
- double ts = data_.system_time_stamp() / 1000.0;
+ double ts = data_.system_time_stamp() / 1000000000.0;
Publish(device_addr, PLAYER_MSGTYPE_DATA, PLAYER_RANGER_DATA_RANGE,
reinterpret_cast<void*> (&rangeData), sizeof(rangeData),
&ts);
@@ -748,6 +748,9 @@
PLAYER_WARN1("hokuyo_aist: Unable to set sensitivity: %s",
e.what());
}
+ if (hwTimeStamps_.GetValue()) {
+ device_.calibrate_time();
+ }
}
catch(hokuyo_aist::BaseError &e)
{
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