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[ntcore] Special-case default timestamps (#5003)

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Previously, a setDefault() on the server could override a client doing a
real set() if the time offset between client and server was negative,
resulting in a negative timestamp from the client.  This is a not
uncommon situation with robot code, as the robot code always starts at
time 0, so any clients that set values earlier (in real time) would have
negative timestamps.

Also improve special casing of 0 in the transmit side to make sure a
normal timestamp will never get sent as 0.
This commit is contained in:
Peter Johnson
2023-01-25 11:36:13 -08:00
committed by GitHub
parent 9e5b7b8040
commit 8785bba080
4 changed files with 76 additions and 7 deletions
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3
ntcore/src/main/native/cpp/LocalStorage.cpp
View File

@@ -501,7 +501,8 @@ bool LSImpl::SetValue(TopicData* topic, const Value& value,
if (topic->type != NT_UNASSIGNED && topic->type != value.type()) {
return false;
}
if (!topic->lastValue || value.time() >= topic->lastValue.time()) {
if (!topic->lastValue || topic->lastValue.time() == 0 ||
value.time() >= topic->lastValue.time()) {
// TODO: notify option even if older value
topic->type = value.type();
topic->lastValue = value;

4
ntcore/src/main/native/cpp/net/ClientImpl.cpp
View File

@@ -268,6 +268,10 @@ void CImpl::SendValues(uint64_t curTimeMs, bool flush) {
int64_t time = val.time();
if (time != 0) {
time += m_serverTimeOffsetUs;
// make sure resultant time isn't exactly 0
if (time == 0) {
time = 1;
}
}
WireEncodeBinary(writer.Add(), Handle{pub->handle}.GetIndex(), time,
val);

2
ntcore/src/main/native/cpp/net/ServerImpl.cpp
View File

@@ -2129,7 +2129,7 @@ void SImpl::SetFlags(ClientData* client, TopicData* topic, unsigned int flags) {
void SImpl::SetValue(ClientData* client, TopicData* topic, const Value& value) {
// update retained value if from same client or timestamp newer
if (!topic->lastValue || topic->lastValueClient == client ||
value.time() >= topic->lastValue.time()) {
topic->lastValue.time() == 0 || value.time() >= topic->lastValue.time()) {
DEBUG4("updating '{}' last value (time was {} is {})", topic->name,
topic->lastValue.time(), value.time());
topic->lastValue = value;