From 4338cfb1f2f6eb77411f7f25cb775539a8621bc3 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 24 Mar 2022 11:09:51 +0100
Subject: [PATCH] Use Clock::WaitFor()
---
.../libraries/armem_robot_state/client/common/RobotReader.cpp | 3 +--
.../armem_robot_state/client/common/VirtualRobotReader.cpp | 4 +---
2 files changed, 2 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
index 3c59b2980..7a4305c6f 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
@@ -112,7 +112,6 @@ namespace armarx::armem::robot_state
{
const auto tsStartFunctionInvokation = armem::Time::Now();
- Clock clock;
while (true)
{
auto state = queryState(obj.description, timestamp);
@@ -130,7 +129,7 @@ namespace armarx::armem::robot_state
}
ARMARX_INFO << "Retrying to query robot state after failure";
- clock.waitFor(sleepAfterFailure);
+ Clock::WaitFor(sleepAfterFailure);
}
obj.config = std::move(*state);
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
index b59eaad14..6eeb7e2e9 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
@@ -92,8 +92,6 @@ namespace armarx::armem::robot_state
const VirtualRobot::RobotIO::RobotDescription& loadMode,
const bool blocking)
{
- Clock clock;
-
while (blocking)
{
VirtualRobot::RobotPtr robot = getRobot(name, timestamp, loadMode);
@@ -103,7 +101,7 @@ namespace armarx::armem::robot_state
}
ARMARX_INFO << "Retrying to query robot after failure";
- clock.waitFor(sleepAfterFailure);
+ Clock::WaitFor(sleepAfterFailure);
}
ARMARX_WARNING << "Failed to get synchronized robot `" << name << "`";
--
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