receive before send to allow time sync

IntelRealSense · Apr 2, 2019 · 84c342e · 84c342e
1 parent 5a0670c
commit 84c342e
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/unit-tests/unit-tests-live.cpp b/unit-tests/unit-tests-live.cpp
@@ -5774,16 +5774,16 @@ TEST_CASE("Wheel_Odometry_API", "[live]")
                     rs2::frameset frames;
                     for (int i = 0; i < 100; i++)
                     {
-                        REQUIRE_NOTHROW(b = wo_snr.send_wheel_odometry(0, 0, { 1,0,0 }));
-                        REQUIRE(b);
-
                         REQUIRE_NOTHROW(frames = pipe.wait_for_frames());
                         REQUIRE(frames.size() > 0);
                         auto f = frames.first_or_default(RS2_STREAM_POSE);
                         auto pose_data = f.as<rs2::pose_frame>().get_pose_data();
                         float norm = sqrt(pose_data.translation.x*pose_data.translation.x + pose_data.translation.y*pose_data.translation.y
                                           + pose_data.translation.z*pose_data.translation.z);
                         if (norm > norm_max) norm_max = norm;
+
+                        REQUIRE_NOTHROW(b = wo_snr.send_wheel_odometry(0, 0, { 1,0,0 }));
+                        REQUIRE(b);
                     }
                     Approx approx_norm(0);
                     approx_norm.epsilon(0.005); // 0.5cm threshold