bug fix

facontidavide · Dec 12, 2023 · 23f7e46 · 23f7e46
1 parent 7b4ed81
commit 23f7e46
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/plotjuggler_plugins/DataLoadMCAP/dialog_mcap.cpp b/plotjuggler_plugins/DataLoadMCAP/dialog_mcap.cpp
@@ -101,7 +101,7 @@ void DialogMCAP::accept()
 
   settings.setValue(prefix + "clamp", clamp_checked);
   settings.setValue(prefix + "max_array", max_array);
-  settings.setValue(prefix + "use_timestamp", max_array);
+  settings.setValue(prefix + "use_timestamp", use_timestamp);
 
   QItemSelectionModel* select = ui->tableWidget->selectionModel();
   QStringList selected_topics;

diff --git a/plotjuggler_plugins/ParserROS/ros_parser.cpp b/plotjuggler_plugins/ParserROS/ros_parser.cpp
@@ -96,17 +96,19 @@ bool ParserROS::parseMessage(const PJ::MessageRef serialized_msg, double& timest
 
   if(_has_header && this->useEmbeddedTimestamp())
   {
+    double ts = 0;
     if(_deserializer->isROS2())
     {
       auto sec = _flat_msg.value[0].second.convert<double>();
       auto nsec = _flat_msg.value[1].second.convert<double>();
-      timestamp = sec + 1e-9*nsec;
+      ts = sec + 1e-9*nsec;
     }
     else {
       auto sec = _flat_msg.value[1].second.convert<double>();
       auto nsec = _flat_msg.value[2].second.convert<double>();
-      timestamp = sec + 1e-9*nsec;
+      ts = sec + 1e-9*nsec;
     }
+    timestamp = (ts > 0) ? ts : timestamp;
   }
 
   std::string series_name;
@@ -150,9 +152,10 @@ Msg::Header ParserROS::readHeader(double& timestamp)
   header.stamp.sec = _deserializer->deserializeUInt32();
   header.stamp.nanosec = _deserializer->deserializeUInt32();
 
-  if (useEmbeddedTimestamp())
+  const double ts = header.stamp.toSec();
+  if (useEmbeddedTimestamp() && ts > 0)
   {
-    timestamp = double(header.stamp.sec) + 1e-9 * double(header.stamp.nanosec);
+    timestamp = ts;
   }
   _deserializer->deserializeString(header.frame_id);
 

diff --git a/plotjuggler_plugins/ParserROS/special_messages.h b/plotjuggler_plugins/ParserROS/special_messages.h
@@ -18,7 +18,7 @@ struct Time
 
   double toSec() const
   {
-  return double(sec) + double(nanosec)*1e-9;
+    return double(sec) + double(nanosec)*1e-9;
   }
 };
-Original file line number
+Diff line change
@@ Expand Up / @@ -18,7 +18,7 @@ struct Time @@
       double toSec() const
       {
-      return double(sec) + double(nanosec)*1e-9;
+        return double(sec) + double(nanosec)*1e-9;
       }
     };
@@ Expand Down @@