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Error counts continuously being reset #5

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Error counts continuously being reset #5

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54af63e
fixed error count reset bug
richardw347 Feb 21, 2023
c778f4c
Added fix to multi-echo
richardw347 Feb 23, 2023
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6 changes: 3 additions & 3 deletions src/urg_node2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -484,6 +484,7 @@ void UrgNode2::scan_thread()
RCLCPP_WARN(get_logger(), "Could not get multi echo scan.");
error_count_++;
total_error_count_++;
prev_time = system_clock.now();
device_status_ = urg_sensor_status(&urg_);
sensor_status_ = urg_sensor_state(&urg_);
is_stable_ = urg_is_stable(&urg_);
Expand All @@ -499,6 +500,7 @@ void UrgNode2::scan_thread()
RCLCPP_WARN(get_logger(), "Could not get single echo scan.");
error_count_++;
total_error_count_++;
prev_time = system_clock.now();
device_status_ = urg_sensor_status(&urg_);
sensor_status_ = urg_sensor_state(&urg_);
is_stable_ = urg_is_stable(&urg_);
Expand All @@ -514,10 +516,8 @@ void UrgNode2::scan_thread()
break;
} else {
// エラーカウントのリセット
rclcpp::Time current_time = system_clock.now();
rclcpp::Duration period = current_time - prev_time;
rclcpp::Duration period = system_clock.now() - prev_time;
if (period.seconds() >= error_reset_period_) {
prev_time = current_time;
error_count_ = 0;
}
}
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