test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -331,6 +331,7 @@ bool AdjustPPK::Undisort(
 bool AdjustPPK::ConfigMap(double timestamp)
 {
     int ret;
+    bool newMatcher = false;
     while(true){
         ret = ppkPeriodVec_.at(periodIndex_).InPeriod(timestamp);
         if(-1 == ret){
@@ -338,6 +339,7 @@ bool AdjustPPK::ConfigMap(double timestamp)
         }
         if(0 == ret){
             periodIndex_++;
+            newMatcher = true;
             LOG(INFO) << "next period " << periodIndex_;
         }else{  //no need reset matcher
             break;
@@ -347,6 +349,9 @@ bool AdjustPPK::ConfigMap(double timestamp)
             return false;
         }
     }
+    if(!newMatcher){
+        return true;
+    }
     auto meshId = ppkPeriodVec_.at(periodIndex_).meshId;
     while(!meshVec_.at(meshId).matcher){
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
@@ -358,7 +363,7 @@ bool AdjustPPK::ConfigMap(double timestamp)
 
 bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
 {
-    bool fstMatch = true;
+    static bool fstMatch = true;
     if(!currMatcher_){
         LOG(INFO) << "no currMatcher_!";
         return false;