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fix: report mismatched FRI periods

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Даниил Грабарь
2026-09-16 14:11:37 +10:00
parent ca4bb76008
commit 48e842656b
1 changed files with 4 additions and 1 deletions
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src/iiwa_controller/src/FRIClient.cpp
+4 -1
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@@ -56,7 +56,10 @@ void FRIClient::captureData(bool commanding)
if (expected_sample_time_ > 0.0 && if (expected_sample_time_ > 0.0 &&
std::abs(current_.sample_time - expected_sample_time_) > 1e-9) 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) { if (current_.valid && current_.session == COMMANDING_ACTIVE) {
const double elapsed = static_cast<double>(sec - current_.time_stamp_sec) + const double elapsed = static_cast<double>(sec - current_.time_stamp_sec) +