[REQ !773] Add Publishing window offset
In scope of OptistackFx (Zephyr), one specific need is to be able to dispatch different Publishers publishing time over a publishing window. Example:
- 100 Publishers, all publishing at 10 ms
- It is expected to balance publishers in a 10ms periodic window
- This requires that the Publishers are all PtP-synchronized, so that the window is consistent between all Publishers.
See Part 14 (1.04) § 6.3.1.1.6
The configuration can be modified as follow
<message ... publishingInterval="10." publishingOffset="5.4" ..>
<message ... publishingInterval="10." publishingOffset="6.2" ..>
In this example, the messages are based on the same window.
- first message is sent every "PtPTime Modulo 10 ms + 5.4 ms"
- second message is sent every "PtPTime Modulo 10 ms + 6.2 ms"
Edited by Jérémie Chabod