Throttle error message on inconsistent encoder timestamps

doc/release/yarp_3_7/throttle_consistency_checker.md

@@ -0,0 +1,12 @@
+throttle_consistency_checker {#yarp_3_7}
+-----------
+
+### Devices
+
+#### `controlBoard_nws_yarp`
+
+* The error message upon inconsistent encoder timestamps has been throttled.
+
+#### `controlBoard_nws_ros`
+
+* Now using a consistency checker mechanism like the nws_yarp counterpart.

src/devices/ControlBoardWrapper/ControlBoard_nws_ros.cpp

@@ -15,8 +15,8 @@
 
 #include "ControlBoardLogComponent.h"
 
+#include <cmath> // std::abs
 #include <numeric>
-#include <math.h>
 
 using namespace yarp::os;
 using namespace yarp::dev;
@@ -312,12 +312,11 @@ void ControlBoard_nws_ros::run()
     }
 
     // Check if the encoders timestamps are consistent.
-    double tt = *times.data();
-    for (auto it = times.begin(); it != times.end(); it++)
+    for (double tt : times)
     {
-        if (fabs(tt - *it) > 1.0)
+        if (std::abs(times[0] - tt) > 1.0)
         {
-            yCError(CONTROLBOARD, "Encoder Timestamps are not consistent! Data will not be published.");
+            yCErrorThrottle(CONTROLBOARD, 1.0, "Encoder timestamps are not consistent! Data will not be published.");
             return;
         }
     }

src/devices/ControlBoardWrapper/ControlBoard_nws_yarp.cpp

@@ -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 Data will not be published.");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);
+            yCErrorThrottle(CONTROLBOARD, 1.0, "Encoder timestamps are not consistent! Data will not be published.");
             return;
         }
     }

src/devices/ControlBoard_nws_ros/ControlBoard_nws_ros.cpp

@@ -13,6 +13,7 @@
 
 #include <yarp/rosmsg/impl/yarpRosHelper.h>
 
+#include <cmath> // std::abs
 #include <numeric>
 
 using namespace yarp::os;
@@ -74,7 +75,7 @@ bool ControlBoard_nws_ros::open(Searchable& config)
     }
 
     // Check if we need to create subdevice or if they are
-    // passed later on thorugh attachAll()
+    // passed later on through attachAll()
     if (prop.check("subdevice")) {
         prop.setMonitor(config.getMonitor());
         if (!openAndAttachSubDevice(prop)) {
@@ -312,6 +313,16 @@ void ControlBoard_nws_ros::run()
         YARP_UNUSED(torqueOk);
     }
 
+    // Check if the encoders timestamps are consistent.
+    for (double tt : times)
+    {
+        if (std::abs(times[0] - tt) > 1.0)
+        {
+            yCErrorThrottle(CONTROLBOARD, 1.0, "Encoder timestamps are not consistent! Data will not be published.");
+            return;
+        }
+    }
+
     // Update the port envelope time by averaging all timestamps
     time.update(std::accumulate(times.begin(), times.end(), 0.0) / subdevice_joints);
     yarp::os::Stamp averageTime = time;