tvolkmann/gyrogpsc
1
0
Fork 0
Code Issues Pull Requests Projects 1 Releases 1 Wiki Activity

added synchronization check for invalid timestamps

Browse Source
This commit is contained in:
Timo Volkmann 2020-12-10 13:51:48 +01:00
parent d16dd61863
commit dfde29ed10
1 changed files with 7 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
core/pipeline.go
View File

@ -9,8 +9,6 @@ import (
"time" "time"
) )
// TODO: adapt HNR-INS data to continue orientation stream
type Processor interface { type Processor interface {
Process(data *Sensordata) error Process(data *Sensordata) error
} }
@ -125,11 +123,16 @@ func (p *pipeline) refreshDelay() error {
p.agr.serialMutex.Unlock() p.agr.serialMutex.Unlock()
p.agr.tcpMutex.Unlock() p.agr.tcpMutex.Unlock()
if tcpTime.UnixNano() == 0 || serTime.UnixNano() == 0 { if tcpTime.UnixNano() == 0 || serTime.UnixNano() == 0 {
return errors.New("no sync possible. no data to compare") return errors.New("no sync possible. check if both collectors running. otherwise check GPS fix")
}
currentDelay := tcpTime.Sub(serTime).Milliseconds()
if currentDelay > 5000 || currentDelay < -5000 {
p.syn.tcpSerialDelayMs = 0
return errors.New("skipping synchronisation! time not properly configured or facing network problems.")
} }
log.Println("TCP", tcpTime.String()) log.Println("TCP", tcpTime.String())
log.Println("SER", serTime.String()) log.Println("SER", serTime.String())
log.Println("Difference", tcpTime.Sub(serTime).Milliseconds()) log.Println("Difference", tcpTime.Sub(serTime).Milliseconds(), "ms")
delay := tcpTime.Sub(serTime).Milliseconds() delay := tcpTime.Sub(serTime).Milliseconds()
p.syn.tcpSerialDelayMs += delay p.syn.tcpSerialDelayMs += delay
return nil return nil