fix: report mismatched FRI periods

2026-09-16 14:11:37 +10:00
parent ca4bb76008
commit 48e842656b
1 changed files with 4 additions and 1 deletions
@@ -56,7 +56,10 @@ void FRIClient::captureData(bool commanding)
  if (expected_sample_time_ > 0.0 &&
    std::abs(current_.sample_time - expected_sample_time_) > 1e-9)
  {
-    throw std::runtime_error("Sunrise FRI period differs from robot.fri_cycle_ms");
+    throw std::runtime_error(
+            "Sunrise FRI period is " + std::to_string(current_.sample_time * 1000.0) +
+            " ms, but robot.fri_cycle_ms is " +
+            std::to_string(expected_sample_time_ * 1000.0) + " ms");
  }
  if (current_.valid && current_.session == COMMANDING_ACTIVE) {
    const double elapsed = static_cast<double>(sec - current_.time_stamp_sec) +