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[tf2] Output canTransform msg only on state change #491

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[tf2] Output canTransform msg only on state change #491

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7 changes: 6 additions & 1 deletion tf2/src/buffer_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,8 +113,13 @@ CompactFrameID BufferCore::validateFrameId(
return 0;
}

// Only check that a frame is non-existent once a frame was found
static bool init_state = true;
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A static variable here is not correct. It will not correctly interact with potentially multiple BufferCore instances and doesn't deal with resetting the core.

CompactFrameID id = lookupFrameNumber(frame_id);
if (id == 0) {
if (id != 0) {
init_state = false;
}
if (!init_state && id == 0) {
fillOrWarnMessageForInvalidFrame(
function_name_arg, frame_id, error_msg, "frame does not exist");
}
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