The s3 doesn't mean "the clock of the current device is successfully synchronized"It only means that it converged during the first twenty seconds. After that, the state doesn't tell you anything. The actual condition could well reflect s2.
I understand that. For us, knowing about the initial sync success would be enough. As said earlier, our system assumes that once the sync is good, it is good for the rest of operational time of our robot. But we can't start operation before the sync is good.
If you (Richard) are reluctant to publishing the internal servo status, would you be inclined to implementing a "parallel" public servo status? That would not be used in the state machine for any kind of decisions, but would just be the flag at which users can look and say "yay, we're synced". It would be very similar to the internal servo status, but would have the jumps from s3 to lower states allowed (someone already asked about this earlier). This could cause no side effects (compared to when the jumps were allowed for the internal servo status), but could be a pretty useful feature for users.
I know you've already said this can be computed via pmc or nsm, but inside ptp4l, the most precise information is known and keeping the public servo states up-to-date would be almost for free.
Martin
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