100 lines
2.6 KiB
C
100 lines
2.6 KiB
C
// Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <uxr/client/client.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <inttypes.h>
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#ifdef WIN32
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#include <windows.h>
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#else
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#include <unistd.h>
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#endif /* ifdef WIN32 */
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int64_t avg_time_offset = 0;
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size_t sample_id = 0;
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void on_time(
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uxrSession* session,
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int64_t current_time,
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int64_t transmit_timestamp,
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int64_t received_timestamp,
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int64_t originate_timestamp,
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void* args)
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{
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(void) args;
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int64_t current_time_offset = ((current_time - originate_timestamp) - (transmit_timestamp - received_timestamp)) /
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2;
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avg_time_offset = (avg_time_offset * sample_id + current_time_offset) / (sample_id + 1);
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++sample_id;
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session->time_offset = avg_time_offset;
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}
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int main(
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int args,
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char** argv)
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{
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// CLI
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if (3 > args || 0 == atoi(argv[2]))
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{
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printf("usage: program [-h | --help] | ip port\n");
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return 0;
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}
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char* ip = argv[1];
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char* port = argv[2];
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// Transport
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uxrUDPTransport transport;
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if (!uxr_init_udp_transport(&transport, UXR_IPv4, ip, port))
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{
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printf("Error at create transport.\n");
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return 1;
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}
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// Session
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uxrSession session;
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uxr_init_session(&session, &transport.comm, 0xCCCCDDDD);
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if (!uxr_create_session(&session))
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{
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printf("Error at create session.\n");
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return 1;
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}
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// This is optional
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uxr_set_time_callback(&session, on_time, NULL);
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// Synchronize with the Agent
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bool synchronized = false;
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do
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{
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synchronized = uxr_sync_session(&session, 1000);
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#ifdef WIN32
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printf("synchronized with time offset %-4I64d us\n", session.time_offset / 1000);
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Sleep(1);
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#else
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printf("synchronized with time offset %" PRId64 " us\n", session.time_offset / 1000);
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sleep(1);
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#endif /* ifdef WIN32 */
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} while (synchronized);
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// Delete resources
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uxr_delete_session(&session);
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uxr_close_udp_transport(&transport);
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return 0;
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}
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