SYNC.TOOLING Messages

This repository contains interfaces for SYNC.TOOLING, a real-time PTP synchronization monitoring and diagnostics framework for distributed systems.

The interface definitions are in Protobuf 3, and have Python and C++ bindings. The Python bindings are packaged using uv, while the C++ bindings are packaged for ROS 2.

Prerequisites

• Protobuf >= 3.12 (sudo apt install libprotoc-dev libprotoc23)

When building for Python (ROS 2 independent):

• Python >= 3.10
• uv (pip install uv)

When building for C++/ROS 2:

• CMake >= 3.14
• ROS 2 Humble, Jazzy, or Rolling

Building

For Python (without ROS2)

uv sync --all-packages && uv build

For C++ (ROS2)

rosdep install -yqi --from-paths .
colcon build

Changelog for package sync_tooling_msgs

0.2.6 (2026-01-13)

• chore: more readme tuning
• chore: adhere to SYNC.TOOLING branding in readme
• chore: add license headers everywhere
• chore: update readme
• chore: use SPDX identifier in package.xml
• chore: more style fixes
• chore: fix import spacing
• chore: fix docstring spacing
• docs: add module docstring
• Contributors: Max SCHMELLER

0.2.5 (2025-08-27)

• chore: bump version to 0.2.5
• fix: allow negative delays in SlaveClockState as they occur in reality
• Contributors: Max SCHMELLER

0.2.4 (2025-08-05)

• chore: bump version to 0.2.4
• Contributors: Max SCHMELLER

0.2.3 (2025-07-07 19:09)

• chore: bump versio to 0.2.3
• Contributors: Max SCHMELLER

0.2.2 (2025-07-07 17:02)

• chore: bump version to 0.2.2
• Contributors: Max SCHMELLER

0.2.1 (2025-07-03)

• chore: bump version to 0.2.1
• Contributors: Max SCHMELLER

0.2.0 (2025-07-02)

• chore: version bump to 0.2.0
• feat: allow comments in diag tree
• chore: rephrase self reported clock states
• fix: remove superfluous [.status]{.title-ref} from `flatten`ed trees
• chore: print Clock IDs nicely in string interpolation
• test: add clock ID print/parse test
• chore: include examples in tests
• chore: add usage examples
• chore: replace name+ip by frame_id for sensor clock IDs
• feat: add self reported clock state graph update type
• docs: document all protos
• docs: doc comments for utility functions
• docs: doc comments for some messages
• chore: remove unused import
• chore: add master_offset_ns field to ClockMasterUpdate
• fix(port_state): make all states either ok or error
• test: add tests for port/servo state diags
• chore(clock_id): raise if no ID is set
• chore: make GraphUpdate hashable
• chore: refactor tests to use fixtures
• chore: satisfy ruff
• chore(diag_tree): remove dead code
• feat(clock_id): make ClockIds parsable from strings
• chore: replace frame_id by sensor_id
• fix(diag_tree): allow to_diag_tree(DiagTree)
• build: fix CMake script after adding new protos
• chore: change from diagnostic in PHC2SYS update to raw state values
• chore: add option to print PortId without domain
• chore: make PortState diagnosable
• chore: move diag_tree helpers to sync_tooling_msgs
• chore: fix ruff and type checker complaints
• add function to make clock types readable
• fix: handle empty clock IDs correctly
• feat: make ClockId, PortId hashable
• chore: delete accidentally added pyc files
• chore: create LICENSE
• chore(cmake): update to reflect namespace changes, add new proto files to list
• WIP
• chore: fix phc2sys_update, rename clock_status_update to be more expressive, add clock_alias_update
• fix: export correct includes and targets
• chore: add time difference measurement proto
• feat: add graph update protos [WIP]
• chore: generate python type information too
• chore: make project buildable with both [uv]{.title-ref} and [colcon]{.title-ref}
• chore: initial protos and build system for Python/C++ mostly done
• Contributors: Max SCHMELLER, Max Schmeller