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Report sim_time in perturbed #67

Closed schmerl closed 7 years ago

schmerl commented 7 years ago

When Rainbow sends the the perturbed status to brasscomms, it is in real time. Similar with all the other statuses. Check that brasscomms is sending the sim_time to LL.

BTW, the Rainbow calls do not use SIM time, but the old method. If I update to the new method, but leave sim_time empty, that should work, right?

schmerl commented 7 years ago

I've just changed it in Rainbow so that on the /internal/status endpoint, you will be sent: {"TIME" : TIMEENCODING, "STATUS" : EXTENDED_STATUS, "MESSAGE" : { "msg" : "Something happened", "sim_time" : ""} }

So, I'm asking you to fill in the sim_time.

This is a bit of a hack, but for CP2 it saves having to publish another message every second into Rainbow, which is already suffering under the load of gazebo and calibration_watcher.

ivoysey commented 7 years ago

It will probably need to be an integer sentinel value like -1 and then we'll just need to be very careful to change it. Parsing will fail on that.

On Sat, Mar 4, 2017 at 08:50 schmerl notifications@github.com wrote:

I've just changed it in Rainbow so that on the /internal/status endpoint, you will be sent: {"TIME" : TIMEENCODING, "STATUS" : EXTENDED_STATUS, "MESSAGE" : { "msg" : "Something happened", "sim_time" : ""} }

So, I'm asking you to fill in the sim_time.

This is a bit of a hack, but for CP2 it saves having to publish another message every second into Rainbow, which is already suffering under the load of gazebo and calibration_watcher.

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ivoysey commented 7 years ago

brasscomms recieves the message from rainbow, drops its real time and sim time fields, and then sends the corresponding status message to the TH with new, up to date, sim and real times.