check for the calibration before sleeping

urfeex · urmahp · urfeex · commit 3e0cd11d4425 · 2025-03-12T09:29:00.000+01:00
Co-authored-by: Mads Holm Peters &lt;79145214+urmahp@users.noreply.github.com&gt;
diff --git a/src/primary/primary_client.cpp b/src/primary/primary_client.cpp
@@ -149,11 +149,11 @@ bool PrimaryClient::reconnectStream()
 
 bool PrimaryClient::checkCalibration(const std::string& checksum)
 {
-  std::shared_ptr<primary_interface::KinematicsInfo> kin_info;
+  std::shared_ptr<primary_interface::KinematicsInfo> kin_info = consumer_->getKinematicsInfo();
   while (kin_info == nullptr)
   {
-    kin_info = consumer_->getKinematicsInfo();
     std::this_thread::sleep_for(std::chrono::seconds(1));
+    kin_info = consumer_->getKinematicsInfo();
   }
   URCL_LOG_DEBUG("Got calibration information from robot.");
 

Original file line number	Diff line number	Diff line change
`@@ -149,11 +149,11 @@ bool PrimaryClient::reconnectStream()`
`149`	`149`
`150`	`150`	`bool PrimaryClient::checkCalibration(const std::string& checksum)`
`151`	`151`	`{`
`152`		`- std::shared_ptr<primary_interface::KinematicsInfo> kin_info;`
	`152`	`+ std::shared_ptr<primary_interface::KinematicsInfo> kin_info = consumer_->getKinematicsInfo();`
`153`	`153`	`while (kin_info == nullptr)`
`154`	`154`	`{`
`155`		`- kin_info = consumer_->getKinematicsInfo();`
`156`	`155`	`std::this_thread::sleep_for(std::chrono::seconds(1));`
	`156`	`+ kin_info = consumer_->getKinematicsInfo();`
`157`	`157`	`}`
`158`	`158`	`URCL_LOG_DEBUG("Got calibration information from robot.");`
`159`	`159`