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feat(hosts): trusted wall time from the system clock or a peer; set observed_at

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kyle
2026-10-22 08:44:09 -07:00
parent 9f028743b5
commit 7c8d8b74e9
9 changed files with 633 additions and 251 deletions
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tines-ros2/Cargo.toml
+5 -1
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@@ -17,12 +17,16 @@ categories = ["science::robotics", "network-programming"]
# and are tested without a ROS2 toolchain. Enable `--features ros2` to compile
# the rclrs-backed `TinesNode`.
default = []
ros2 = ["dep:rclrs", "dep:ros-env"]
ros2 = ["dep:rclrs", "dep:ros-env", "dep:tines"]
[dependencies]
tines-core = { path = "../tines-core", version = "0.3.0" }
tines-store = { path = "../tines-store", version = "0.3.0" }
tines-bt = { path = "../tines-bt", version = "0.3.0" }
# The host's wall-clock abstraction (`HostClock`) and the trusted-time state
# machine it drives. Only needed behind the `ros2` feature — `TinesNode` is the
# only consumer and that is compiled only with `ros2` — so keep it optional.
tines = { path = "../tines", version = "0.3.0", optional = true }
rclrs = { version = "0.8", optional = true }
# ros_env provides the ROS 2 message types (std_msgs, including
# UInt8MultiArray) by include!()ing the generated crates from