From fcfc48ba753c5e7ee1f6af21f725eb060c3d02cd Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit>
Date: Wed, 10 Nov 2021 15:19:40 +0100
Subject: [PATCH] RobotStateComponent: logging
---
.../RobotState/RobotStateComponent.cpp | 23 ++++++++++---------
1 file changed, 12 insertions(+), 11 deletions(-)
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index 94b1deab9..374fae4c4 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -538,23 +538,24 @@ namespace armarx
const IceUtil::Time newestTimeInHistory = jointHistory.rbegin()->first;
if (time > newestTimeInHistory)
{
- IceUtil::Time maxOffset = IceUtil::Time::seconds(2);
- if (time <= newestTimeInHistory + maxOffset)
- {
- ARMARX_INFO << deactivateSpam(5)
- << "Requested joint timestamp is newer than newest available timestamp!"
- << "\n- requested timestamp: \t" << time.toDateTime()
- << "\n- newest timestamp: \t" << newestTimeInHistory.toDateTime()
- << "\n- difference: \t" << (time - newestTimeInHistory).toMicroSeconds() << " us";
- }
- else
+ const IceUtil::Time minOffset = IceUtil::Time::milliSeconds(25);
+ const IceUtil::Time maxOffset = IceUtil::Time::seconds(2);
+ if (time > newestTimeInHistory + maxOffset)
{
- ARMARX_WARNING << deactivateSpam(1) << "Requested joint timestamp is substantially newer (>"
+ ARMARX_WARNING << deactivateSpam(5) << "Requested joint timestamp is substantially newer (>"
<< maxOffset.toSecondsDouble() << " sec) than newest available timestamp!"
<< "\n- requested timestamp: \t" << time.toDateTime()
<< "\n- newest timestamp: \t" << newestTimeInHistory.toDateTime();
return std::nullopt;
}
+ else if (time > newestTimeInHistory + minOffset)
+ {
+ ARMARX_INFO << deactivateSpam(10)
+ << "Requested joint timestamp is newer than newest available timestamp!"
+ << "\n- requested timestamp: \t" << time.toDateTime()
+ << "\n- newest timestamp: \t" << newestTimeInHistory.toDateTime()
+ << "\n- difference: \t" << (time - newestTimeInHistory).toMicroSeconds() << " us";
+ }
return Timestamped<NameValueMap> {jointHistory.rbegin()->first, jointHistory.rbegin()->second};
}
--
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