From 46db7efd4c2c6b67f84bfb88e97297bcac77420f Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Tue, 12 Dec 2023 12:50:23 +0100
Subject: [PATCH] Fix inconsistent timestamps in RobotStateComponent
---
.../RobotAPI/components/RobotState/RobotStateComponent.cpp | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index a17005e6d..d646b7ae3 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -37,6 +37,8 @@
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/time/TimeUtil.h>
+#include <RobotAPI/components/units/RobotUnit/util/RtTiming.h>
+#include <RobotAPI/components/units/RobotUnit/util/NonRtTiming.h>
using namespace Eigen;
@@ -296,10 +298,10 @@ namespace armarx
{
if (timestamp <= 0)
{
- timestamp = IceUtil::Time::now().toMicroSeconds();
+ timestamp = armarx::rtNow().toMicroSeconds();
}
- IceUtil::Time time = IceUtil::Time::microSeconds(timestamp);
+ IceUtil::Time time = mapRtTimestampToNonRtTimestamp(IceUtil::Time::microSeconds(timestamp));
ARMARX_DEBUG << deactivateSpam(1) << "Got new jointangles: " << jointAngles
<< " from timestamp " << time.toDateTime()
--
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