From 5e5d8b154b5bf77ba48904ffe4eb9b68a2cc0d8a Mon Sep 17 00:00:00 2001
From: kobayu858 <yutaro.kobayashi.2@tier4.jp>
Date: Tue, 2 Sep 2025 20:36:58 +0900
Subject: [PATCH] fix: spawn_periodic_reactor

Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp>
---
 awkernel_async_lib/src/dag.rs | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs
index 8d40959ca..2cf389d02 100644
--- a/awkernel_async_lib/src/dag.rs
+++ b/awkernel_async_lib/src/dag.rs
@@ -895,14 +895,17 @@ where
         );
 
         let mut interval = interval(period);
+        // Consume the first tick here to start the loop's main body without an initial delay.
+        interval.tick().await;
 
         loop {
-            interval.tick().await;
             let results = f();
             publishers.send_all(results).await;
 
             #[cfg(feature = "perf")]
             periodic_measure();
+
+            interval.tick().await;
         }
     };