From b32ccb14315d8a6e05aaf42845f31c8f0d2a92d8 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Thu, 16 Aug 2018 16:24:17 +0200
Subject: [PATCH] robotstatecomponent will reject now timestamps that are >2
secs newer than the newest available data
---
.../RobotAPI/components/RobotState/RobotStateComponent.cpp | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index 4374e8b88..b2da65eda 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -272,6 +272,13 @@ namespace armarx
}
if (time > history.rbegin()->first)
{
+ double maxOffset = 2000000;
+ if (time > history.rbegin()->first + maxOffset)
+ {
+ ARMARX_WARNING << deactivateSpam(1) << "Requested timestamp is substantially newer (>" << maxOffset << " usec) than newest available timestamp!\nrequested timestamp: "
+ << IceUtil::Time::microSecondsDouble(time).toDateTime() << " newest timestamp: " << IceUtil::Time::microSecondsDouble(history.rbegin()->first).toDateTime();
+ return false;
+ }
config = history.rbegin()->second;
}
else if (it == history.end())
--
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