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Update 'src/pubsub/pubsub/pubsub_library_v4.py'

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Changed the order so that the time is not overflowing while checking
This commit is contained in:
Christopher Herr 2023-05-19 17:57:46 +02:00
parent 61ebd7ca68
commit e17c718d0b
1 changed files with 5 additions and 5 deletions
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src/pubsub/pubsub/pubsub_library_v4.py
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@ -130,17 +130,17 @@ class MinimalSubscriber(Node):
false = no timer_overflow >> no error""" false = no timer_overflow >> no error"""
self.overflow = False self.overflow = False
if time_limit > 0 and self.has_msg(): if time_limit > 0 and self.has_msg():
if time.time() <= self.last_msg_time + time_limit:
if self.watchdog > 0:
self.trust += 1
if self.trust > number_of_timer_overflows * trust_factor:
self.watchdog = 0
if time.time() > self.last_msg_time + time_limit: if time.time() > self.last_msg_time + time_limit:
self.watchdog += 1 self.watchdog += 1
self.trust = 0 self.trust = 0
self.get_logger().warn(f"Message-Watchdog triggered {self.watchdog} times") self.get_logger().warn(f"Message-Watchdog triggered {self.watchdog} times")
if self.watchdog > number_of_timer_overflows: if self.watchdog > number_of_timer_overflows:
self.overflow = True self.overflow = True
if self.watchdog > 0:
if time.time() < self.last_msg_time + time_limit:
self.trust += 1
if self.trust > number_of_timer_overflows * trust_factor:
self.watchdog = 0
return self.overflow return self.overflow