Add more throttle

Olav de Haas · Olav de Haas · commit 085ac42ec960 · 2019-12-07T14:31:27.000+01:00
diff --git a/march_hardware/src/EtherCAT/EthercatMaster.cpp b/march_hardware/src/EtherCAT/EthercatMaster.cpp
@@ -197,7 +197,7 @@ void EthercatMaster::monitorSlaveConnection()
     if (!ec_slave[slave].state)
     {
       // TODO(@Tim, @Isha, @Martijn) throw error when it happens multiple times in a short period of time.
-      ROS_WARN("EtherCAT train lost connection from slave %d onwards", slave);
+      ROS_WARN_THROTTLE(1, "EtherCAT train lost connection from slave %d onwards", slave);
       return;
     }
   }
diff --git a/march_hardware/src/IMotionCube.cpp b/march_hardware/src/IMotionCube.cpp
@@ -468,7 +468,7 @@ bool IMotionCube::goToTargetState(IMotionCubeTargetState targetState)
   while (!targetState.isReached(this->getStatusWord()))
   {
     this->setControlWord(targetState.getControlWord());
-    ROS_INFO_DELAYED_THROTTLE(2, "\tWaiting for '%s': %s", targetState.getDescription().c_str(),
+    ROS_INFO_DELAYED_THROTTLE(5, "\tWaiting for '%s': %s", targetState.getDescription().c_str(),
                               std::bitset<16>(this->getStatusWord()).to_string().c_str());
     if (targetState.getState() == IMotionCubeTargetState::OPERATION_ENABLED.getState() &&
         this->getState(this->getStatusWord()) == IMCState::fault)

Original file line number	Diff line number	Diff line change
`@@ -197,7 +197,7 @@ void EthercatMaster::monitorSlaveConnection()`
`197`	`197`	`if (!ec_slave[slave].state)`
`198`	`198`	`{`
`199`	`199`	`// TODO(@Tim, @Isha, @Martijn) throw error when it happens multiple times in a short period of time.`
`200`		`- ROS_WARN("EtherCAT train lost connection from slave %d onwards", slave);`
	`200`	`+ ROS_WARN_THROTTLE(1, "EtherCAT train lost connection from slave %d onwards", slave);`
`201`	`201`	`return;`
`202`	`202`	`}`
`203`	`203`	`}`
Original file line number	Diff line number	Diff line change
`@@ -468,7 +468,7 @@ bool IMotionCube::goToTargetState(IMotionCubeTargetState targetState)`
`468`	`468`	`while (!targetState.isReached(this->getStatusWord()))`
`469`	`469`	`{`
`470`	`470`	`this->setControlWord(targetState.getControlWord());`
`471`		`- ROS_INFO_DELAYED_THROTTLE(2, "\tWaiting for '%s': %s", targetState.getDescription().c_str(),`
	`471`	`+ ROS_INFO_DELAYED_THROTTLE(5, "\tWaiting for '%s': %s", targetState.getDescription().c_str(),`
`472`	`472`	`std::bitset<16>(this->getStatusWord()).to_string().c_str());`
`473`	`473`	`if (targetState.getState() == IMotionCubeTargetState::OPERATION_ENABLED.getState() &&`
`474`	`474`	`this->getState(this->getStatusWord()) == IMCState::fault)`