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fix: non steady clock and watchdog #156

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merged 2 commits into from
Jun 6, 2024
Merged

fix: non steady clock and watchdog #156

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ae0e291
fix: the callback was being called even though the updates were frequ…
knzo25 May 31, 2024
7f53f06
chore(watchdog_timer): add explanatory comment
mojomex Jun 6, 2024
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6 changes: 5 additions & 1 deletion nebula_ros/include/nebula_ros/common/watchdog_timer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,11 @@ class WatchdogTimer
{
uint64_t now_ns = node_.get_clock()->now().nanoseconds();

bool is_late = (now_ns - last_update_ns_) > expected_update_interval_ns_;
// As the clock is not steady, the update timestamp can be newer than clock.now().
// Define that edge-case as not being late too.
bool is_late = (last_update_ns_ > now_ns)
? false
: (now_ns - last_update_ns_) > expected_update_interval_ns_;

callback_(!is_late);
}
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