cleanup

PX4 · Nov 1, 2023 · 8b05309 · 8b05309
1 parent 11ef293
commit 8b05309
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/src/modules/uxrce_dds_client/uxrce_dds_client.cpp b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp
@@ -73,8 +73,7 @@ void on_time(uxrSession *session, int64_t current_time, int64_t received_timesta
 		Timesync *timesync = static_cast<Timesync *>(args);
 		timesync->update(current_time / 1000, transmit_timestamp, originate_timestamp);
 
-		// fprintf(stderr, "time_offset: %lld, timesync: %lld, diff: %lld\n", session->time_offset/1000, timesync->offset(), session->time_offset/1000 + timesync->offset());
-		// PX4_INFO("utc time: %lld", (transmit_timestamp + (rtt / 2))/1000000000);
+		//fprintf(stderr, "time_offset: %lld, timesync: %lld, diff: %lld\n", session->time_offset/1000, timesync->offset(), session->time_offset/1000 + timesync->offset());
 
 		session->time_offset = -timesync->offset() * 1000; // us -> ns
 	}
@@ -103,7 +102,7 @@ UxrceddsClient::UxrceddsClient(Transport transport, const char *device, int baud
 			if (fd < 0) {
 				PX4_ERR("open %s failed (%i)", device, errno);
 				// sleep before trying again
-				usleep(1_s);
+				px4_sleep(1_s);
 
 			} else {
 				break;
@@ -323,9 +322,10 @@ void UxrceddsClient::run()
 				px4_clock_gettime(CLOCK_REALTIME, &ts);
 				time_t current_system_utc = ts.tv_sec + (ts.tv_nsec / 1e9);
 
-				if (current_system_utc > agent_utc ) {
+				if (current_system_utc > agent_utc) {
 					// Assume agents time is wrong if it's in the past
-					PX4_INFO("Agents UTC time is %f seconds in the past, not setting time", double((current_system_utc - agent_utc)/1000000));
+					PX4_INFO("Agents UTC time is %f seconds in the past, not setting time",
+						 double((current_system_utc - agent_utc) / 1000000));
 					break;
 				}
 
@@ -342,7 +342,7 @@ void UxrceddsClient::run()
 				break;
 			}
 
-			usleep(10_ms);
+			px4_sleep(10_ms);
 		}
 
 		hrt_abstime last_sync_session = 0;
@@ -384,7 +384,7 @@ void UxrceddsClient::run()
 			// time sync session
 			if (_synchronize_timestamps && hrt_elapsed_time(&last_sync_session) > 1_s) {
 				if (uxr_sync_session(&session, 100)) {
-					// PX4_INFO("synchronized with time offset %-5" PRId64 "ns", session.time_offset);
+					//PX4_INFO("synchronized with time offset %-5" PRId64 "ns", session.time_offset);
 					last_sync_session = hrt_absolute_time();
 				}
 			}