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umrover · Dec 6, 2024 · 092251e · 092251e
1 parent afcc159
commit 092251e
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/state_machine/state_machine.hpp b/state_machine/state_machine.hpp
@@ -99,7 +99,7 @@ class StateMachine{
 	 * \brief           Returns the demangled name of the current state in the state machine
 	 * \return          A constant reference to the current state's demangled state name
 	 */
-	auto getCurrentState() const -> std::string const& {
+	auto getCurrentStateName() const -> std::string const& {
 		return getStateName(currState);
 	}
 
@@ -142,6 +142,9 @@ class StateMachine{
 			std::vector<std::reference_wrapper<std::type_info const>> types{std::ref(typeid(To))...};
 			for(auto const& type : types){
 				demangledName = abi::__cxa_demangle(type.get().name(), nullptr, nullptr, &status);
+				if(status){
+					throw std::runtime_error("C++ demangle failed!");
+				}
 				addNameToDecoder(type.get().hash_code(), demangledName);
 				free(demangledName);
 			}

diff --git a/state_machine/state_publisher_server.hpp b/state_machine/state_publisher_server.hpp
@@ -56,7 +56,7 @@ namespace mrover{
 		void publishState(){
 			auto stateMachineUpdate = mrover::msg::StateMachineStateUpdate();
 			stateMachineUpdate.state_machine_name = mStateMachine.getName();
-			stateMachineUpdate.state = mStateMachine.getCurrentState();
+			stateMachineUpdate.state = mStateMachine.getCurrentStateName();
 			mStatePub->publish(stateMachineUpdate);
 		}
 
@@ -74,8 +74,8 @@ namespace mrover{
 			mStructurePub = node->create_publisher<mrover::msg::StateMachineStructure>(structureTopicName, 1);
 			mStatePub = node->create_publisher<mrover::msg::StateMachineStateUpdate>(stateTopicName, 1);
 
-			mStructureTimer = node->create_wall_timer(std::chrono::milliseconds(static_cast<std::size_t>(1 / structureTopicHz)), [&](){publishStructure();});
-			mStateTimer = node->create_wall_timer(std::chrono::milliseconds(static_cast<std::size_t>(1 / stateTopicHz)), [&](){publishState();});
+			mStructureTimer = node->create_wall_timer(std::chrono::milliseconds(static_cast<std::size_t>(1000 / structureTopicHz)), [&](){publishStructure();});
+			mStateTimer = node->create_wall_timer(std::chrono::milliseconds(static_cast<std::size_t>(1000 / stateTopicHz)), [&](){publishState();});
 		}
 	};
 }