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feat:fix time convert bug when utc timestamp synchronization

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Livox-SDK
2020-05-04 21:47:22 +08:00
parent c844517b17
commit 35653e61a6
1 changed files with 3 additions and 2 deletions
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5
livox_ros_driver/livox_ros_driver/lds.cpp
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@@ -65,13 +65,14 @@ uint64_t GetStoragePacketTimestamp(StoragePacket *packet, uint8_t data_src_) {
struct tm time_utc;
time_utc.tm_isdst = 0;
time_utc.tm_year = raw_packet->timestamp[0] + 100; // map 2000 to 1990
time_utc.tm_mon = raw_packet->timestamp[1];
time_utc.tm_mon = raw_packet->timestamp[1] - 1; // map 1~12 to 0~11
time_utc.tm_mday = raw_packet->timestamp[2];
time_utc.tm_hour = raw_packet->timestamp[3];
time_utc.tm_min = 0;
time_utc.tm_sec = 0;
uint64_t time_epoch = mktime(&time_utc);
//uint64_t time_epoch = mktime(&time_utc);
uint64_t time_epoch = timegm(&time_utc); // no timezone
time_epoch = time_epoch * 1000000 + timestamp.stamp_word.high; // to us
time_epoch = time_epoch * 1000; // to ns