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Fix throttle #190

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merged 3 commits into from
May 7, 2020
Merged

Fix throttle #190

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55ed275
Update last called time adding throttle period
efernandez May 6, 2020
8692f10
Init last called time to now the first time
efernandez May 6, 2020
92f13de
Fix check for init/zero last called time
efernandez May 6, 2020
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11 changes: 9 additions & 2 deletions fuse_models/include/fuse_models/common/throttled_callback.h
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Original file line number Diff line number Diff line change
Expand Up @@ -162,14 +162,21 @@ class ThrottledCallback
// (b) The throttle period is zero, so we should always keep the callbacks
// (c) The elpased time between now and the last called time is greater than the throttle period
const ros::Time now = use_wall_time_ ? ros::Time(ros::WallTime::now().toSec()) : ros::Time::now();
if (!last_called_time_.isValid() || throttle_period_.isZero() || now - last_called_time_ > throttle_period_)
if (last_called_time_.isZero() || throttle_period_.isZero() || now - last_called_time_ > throttle_period_)
{
if (keep_callback_)
{
keep_callback_(message);
}

last_called_time_ = now;
if (last_called_time_.isZero())
{
last_called_time_ = now;
}
else
{
last_called_time_ += throttle_period_;
}
}
else if (drop_callback_)
{
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