Merge pull request #2869 from PeterBowman/throttle_consistency_checker

Throttle error message on inconsistent encoder timestamps
robotology · Nov 20, 2023 · cdd617e · cdd617e
2 parents 68c86b5 + aad6c24
commit cdd617e
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diff --git a/doc/release/yarp_3_8/throttle_consistency_checker.md b/doc/release/yarp_3_8/throttle_consistency_checker.md
@@ -0,0 +1,8 @@
+throttle_consistency_checker {#yarp_3_8}
+-----------
+
+### Devices
+
+#### `controlBoard_nws_yarp`
+
+* The error message upon inconsistent encoder timestamps has been throttled.
diff --git a/src/devices/controlBoard_nws_yarp/ControlBoard_nws_yarp.cpp b/src/devices/controlBoard_nws_yarp/ControlBoard_nws_yarp.cpp
@@ -437,7 +437,7 @@ void ControlBoard_nws_yarp::run()
     // check we are not overflowing with input messages
     constexpr int reads_for_warning = 20;
     if (inputStreamingPort.getPendingReads() >= reads_for_warning) {
-        yCWarning(CONTROLBOARD) << "Number of streaming input messages to be read is " << inputStreamingPort.getPendingReads() << " and can overflow";
+        yCIWarning(CONTROLBOARD, id()) << "Number of streaming input messages to be read is" << inputStreamingPort.getPendingReads() << "and can overflow";
     }
 
     // handle stateExt first
@@ -513,8 +513,7 @@ void ControlBoard_nws_yarp::run()
     {
         if (std::abs(times[0] - tt) > 1.0)
         {
-            yCError(CONTROLBOARD, "Encoder Timestamps are not consistent! Data will not be published.");
-            yarp::sig::Vector _data(subdevice_joints);
+            yCIErrorThrottle(CONTROLBOARD, id(), 1.0) << "Encoder timestamps are not consistent! Data will not be published.";
             return;
         }
     }