we set feedback frequency for a background thread on host computer to collect feedbacks from actuators. We call getNextFeedback to get the next new (not previously accessed) synchronized feedback.group->setFeedbackFrequencyHz(F1);
// loop frequency F2
while (!stop_loop)
{
if (!group->getNextFeedback(&feedback))
continue;
// ... read/use feedback object contents here.
}
If F2 is faster than F1, the getNextFeedback call blocks, according to the document.
What happens if F1 is faster than F2? Will the feedbacks be pushed in a buffer? If so, what is its size? Does getNextFeedback return the latest state (feedback) or the old state?
Thank you very much.