Include sub-second information in serializer

include/param/param.h

@@ -86,6 +86,12 @@ typedef enum {
 #define PM_CSP               (5 << 16) //! Known as 5 in elfparse and genparamtable
 #define PM_KEYCONF               (6 << 16) //! Known as 6 in elfparse and genparamtable
 
+/**
+ * Value to indicate an invalid nsec.
+ *
+ * This define should be moved to CSP if CSP will have support for invalid nsec
+ */
+#define CSP_TIMESTAMP_INVALID_NSEC	-1
 
 /**
  * Parameter description structure
@@ -140,7 +146,7 @@ typedef struct param_s {
 
 #ifdef PARAM_HAVE_TIMESTAMP
 #define PARAM_TIMESTAMP_DECL(_name) \
-    csp_timestamp_t _timestamp_##_name = { .tv_sec = 0, .tv_nsec = 0 };
+    csp_timestamp_t _timestamp_##_name = { .tv_sec = 0, .tv_nsec = CSP_TIMESTAMP_INVALID_NSEC };
 
 #define PARAM_TIMESTAMP_INIT(_name) \
     .timestamp = &_timestamp_##_name,

meson.build

@@ -24,6 +24,10 @@ if get_option('have_float') == false
 	conf.set('MPACK_FLOAT', 0)
 endif
 
+if get_option('serialize_extended_timestamp') == true
+	conf.set('EXTENDED_TIMESTAMP', 0)
+endif
+
 if get_option('have_fopen') == true
 	if get_option('list_dynamic') == true
 		conf.set('MPACK_STDIO', 1)

meson_options.txt

@@ -6,4 +6,5 @@ option('list_dynamic', type: 'boolean', value: false, description: 'Compile supp
 option('list_pool', type: 'integer', value: 0, description: 'Compile support for pre-allocated param list (requres sys/queue.h)')
 option('have_float', type: 'boolean', value: true, description: 'Support float/double')
 option('num_publishqueues', type: 'integer', value: 0, description: 'Number of param publish queues required')
+option('serialize_extended_timestamp', type: 'boolean', value: false, description: 'Include ns part of timestamps when serializing parameters (network incompatible with libparam older than June 2025')
 option('test', type: 'boolean', value: false, description: 'Build GoogleTest based tests (requires gtest)')

src/param/param_serializer.c

@@ -70,14 +70,20 @@ void param_serialize_id(mpack_writer_t *writer, param_t *param, int offset, para
 		int node_flag = (queue->last_node != node) ? 1 : 0;
 #ifdef PARAM_HAVE_TIMESTAMP
 		int timestamp_flag = (queue->last_timestamp.tv_sec != param->timestamp->tv_sec) ? 1 : 0;
+		int extendedtimestamp_flag = 0;
+#ifdef EXTENDED_TIMESTAMP
+		extendedtimestamp_flag = (queue->last_timestamp.tv_nsec != param->timestamp->tv_nsec) ? 1 : 0;
+#endif /* EXTENDED_TIMESTAMP */
 #else
 		int timestamp_flag = 0;
+		int extendedtimestamp_flag = 0;
 #endif
 		int extendedid_flag = (param->id > 0x3ff) ? 1 : 0;
 
-		uint16_t header = array_flag << PARAM_HEADER_ARRAY_POS 
+		uint16_t header = array_flag << PARAM_HEADER_ARRAY_POS
 						| node_flag << PARAM_HEADER_NODE_POS
 						| timestamp_flag << PARAM_HEADER_TIMESTAMP_POS
+						| extendedtimestamp_flag << PARAM_HEADER_EXTENDEDTIMESTAMP_POS
 						| extendedid_flag << PARAM_HEADER_EXTENDEDID_POS
 						|(param->id & PARAM_HEADER_ID_MASK);
 		header = htobe16(header);
@@ -100,6 +106,12 @@ void param_serialize_id(mpack_writer_t *writer, param_t *param, int offset, para
 			uint32_t _timestamp = htobe32(param->timestamp->tv_sec);
 			mpack_write_bytes(writer, (char*) &_timestamp, 4);
 		}
+
+		if (extendedtimestamp_flag) {
+			queue->last_timestamp.tv_nsec = param->timestamp->tv_nsec;
+			uint32_t _timestamp_ns = htobe32(param->timestamp->tv_nsec);
+			mpack_write_bytes(writer, (char*) &_timestamp_ns, 4);
+		}
 #endif
 
 		if (extendedid_flag) {
@@ -168,19 +180,14 @@ void param_deserialize_id(mpack_reader_t *reader, int *id, int *node, csp_timest
 				queue->last_timestamp = queue->client_timestamp;
 			} else {
 				queue->last_timestamp.tv_sec = _timestamp;
-				if (extendedtimestamp_flag) {
-					uint32_t _timestamp_ns;
-					mpack_read_bytes(reader, (char*) &_timestamp_ns, 4);
-					_timestamp_ns = be32toh(_timestamp_ns);
-					queue->last_timestamp.tv_nsec = _timestamp_ns;
-				} else {
-					queue->last_timestamp.tv_nsec = 0;
-				}
 			}
-		} else if (extendedtimestamp_flag) {
-			/* Invalid header combination, discard header field */
+		}
+
+		if (extendedtimestamp_flag) {
 			uint32_t _timestamp_ns;
 			mpack_read_bytes(reader, (char*) &_timestamp_ns, 4);
+			_timestamp_ns = be32toh(_timestamp_ns);
+			queue->last_timestamp.tv_nsec = _timestamp_ns;
 		}
 		*timestamp = queue->last_timestamp;