Fix clearing outdated values in history

source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp

@@ -1190,15 +1190,18 @@ void KinematicUnitWidgetController::reportJointMotorTemperatures(const NameValue
 
 void KinematicUnitWidgetController::reportJointStatuses(const NameStatusMap& jointStatuses, Ice::Long timestamp, bool aValueChanged, const Ice::Current&)
 {
-    if (!aValueChanged && reportedJointStatuses.size() > 0)
+    boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+    if (aValueChanged && jointCurrents.size() > 0)
     {
-        return;
+        jointCurrentHistory.push_back(std::pair<Ice::Long, NameValueMap>(timestamp, jointCurrents));
     }
 
-    boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
-    reportedJointStatuses = jointStatuses;
+    while (jointCurrentHistory.back().first - jointCurrentHistory.front().first > historyTime && jointCurrentHistory.size() > 1)
+    {
+        jointCurrentHistory.pop_front();
+    }
 
-    emit jointStatusesReported();
+    emit jointCurrentsReported();
 }