Add a small delay before sending the state to the robot.

naderman · Jul 14, 2010 · 5609f1e · 5609f1e
1 parent b46937a
commit 5609f1e
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Showing 2 changed files with 14 additions and 2 deletions.
diff --git a/src/spoac/stm/PlanNetworkPerceptionHandler.cpp b/src/spoac/stm/PlanNetworkPerceptionHandler.cpp
@@ -41,7 +41,8 @@ PerceptionHandlerPtr PlanNetworkPerceptionHandler::createInstance(
 
 PlanNetworkPerceptionHandler::PlanNetworkPerceptionHandler(
     ice::IceHelperPtr iceHelper) :
-    iceHelper(iceHelper)
+    iceHelper(iceHelper),
+    wait(5)
 {
     if (iceHelper.get() != NULL)
     {
@@ -54,13 +55,22 @@ PlanNetworkPerceptionHandler::PlanNetworkPerceptionHandler(
 void PlanNetworkPerceptionHandler::setScenario(
     const spoac::LTMSlice::Scenario& scenario)
 {
+    wait = 5;
+
     predicates = scenario.predicates;
     functions = scenario.functions;
 }
 
 void PlanNetworkPerceptionHandler::update(spoac::STMPtr stm)
 {
-    planner->updateState(getState(stm));
+    if (wait <= 0)
+    {
+        planner->updateState(getState(stm));
+    }
+    else
+    {
+        wait--;
+    }
 }
 
 

diff --git a/src/spoac/stm/PlanNetworkPerceptionHandler.h b/src/spoac/stm/PlanNetworkPerceptionHandler.h
@@ -55,6 +55,8 @@ namespace spoac
         ice::IceHelperPtr iceHelper;
         PlanningSlice::PlanControllerTopicPrx planner;
 
+        int wait;
+
         static Register<PlanNetworkPerceptionHandler> r;
     };