Decrease rate of vision control messages
Change-Id: Iae82e0930b0606c583c4e7046d7cb98f938c342d
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index b08d6b6..c4a1caf 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -2,6 +2,7 @@
#include <stdio.h>
#include <string.h>
#include <unistd.h>
+#include <chrono>
#include "aos/actions/actions.h"
#include "aos/init.h"
@@ -316,7 +317,11 @@
LOG(ERROR, "Sending superstructure goal failed.\n");
}
- video_tx_->Send(vision_control_);
+ auto time_now = ::aos::monotonic_clock::now();
+ if (time_now > last_vision_control_ + ::std::chrono::milliseconds(50)) {
+ video_tx_->Send(vision_control_);
+ last_vision_control_ = time_now;
+ }
}
private:
@@ -329,6 +334,8 @@
VisionControl vision_control_;
::std::unique_ptr<ProtoTXUdpSocket<VisionControl>> video_tx_;
+ ::aos::monotonic_clock::time_point last_vision_control_ =
+ ::aos::monotonic_clock::time_point::min();
};
} // namespace joysticks