wait for fmu before mode registration #47
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
GuillaumeLaine
commented
Jul 22, 2024
| @@ -50,7 +51,9 @@ bool ModeExecutorBase::doRegister() | |||
|
|
|||
| assert(!_registration->registered()); | |||
|
|
|||
| if (!messageCompatibilityCheck(_node, {ALL_PX4_ROS2_MESSAGES}, _topic_namespace_prefix)) { | |||
| if (!waitForFMU(node(), 15s) || | |||
There was a problem hiding this comment.
The mode executor could check if its owned mode is set to skip the message check?
This would require adding a getter to the Mode class though
There was a problem hiding this comment.
It's only used for unit tests
bkueng
approved these changes
Jul 22, 2024
| @@ -50,7 +51,9 @@ bool ModeExecutorBase::doRegister() | |||
|
|
|||
| assert(!_registration->registered()); | |||
|
|
|||
| if (!messageCompatibilityCheck(_node, {ALL_PX4_ROS2_MESSAGES}, _topic_namespace_prefix)) { | |||
| if (!waitForFMU(node(), 15s) || | |||
There was a problem hiding this comment.
It's only used for unit tests
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Ensure that the FMU is available before running the message compatibility check.
In systems where the FMU's ROS messages are received via relay rather than direct connection to the FMU, ROS message discovery is delayed. In such cases, the message compatibility check can then timeout. Ensuring FMU topics are discovered first prevents this issue.