def _run(self, robot, options):
"""Implementation of the command.
Args:
robot: Robot object on which to run the command.
options: Parsed command-line arguments.
Returns:
False if timesync cannot be established, True otherwise.
"""
endpoint = TimeSyncEndpoint(
robot.ensure_client(TimeSyncClient.default_service_name))
if not endpoint.establish_timesync(break_on_success=True):
print("Failed to achieve time sync")
return False
if options.proto:
print(endpoint.response)
return True
print("GRPC round-trip time: {}".format(
duration_str(endpoint.round_trip_time)))
print("Local time to robot time: {}".format(
duration_str(endpoint.clock_skew)))
return True
def _run(self, robot, options):
endpoint = TimeSyncEndpoint(
robot.ensure_client(TimeSyncClient.default_service_name))
if not endpoint.establish_timesync(break_on_success=True):
print("Failed to acheive time sync")
return False
if options.proto:
print(endpoint.response)
return True
print("GRPC round-trip time: {}".format(
duration_str(endpoint.round_trip_time)))
print("Local time to robot time: {}".format(
duration_str(endpoint.clock_skew)))
return True
def _time_sync_str(self):
if not self._robot.time_sync:
return 'Time sync: (none)'
if self._robot.time_sync.stopped:
status = 'STOPPED'
exception = self._robot.time_sync.thread_exception
if exception:
status = '{} Exception: {}'.format(status, exception)
else:
status = 'RUNNING'
try:
skew = self._robot.time_sync.get_robot_clock_skew()
if skew:
skew_str = 'offset={}'.format(duration_str(skew))
else:
skew_str = "(Skew undetermined)"
except (TimeSyncError, RpcError) as err:
skew_str = '({})'.format(err)
return 'Time sync: {} {}'.format(status, skew_str)
def check_timesync(self):
"""Check and report time difference between robot and client."""
clock_skew = self.get_clock_skew()
if clock_skew:
self.le_timesync.setText(duration_str(clock_skew))
