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NodeDiscoverer logic fix

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Pavel Kirienko
2015-05-24 17:18:14 +03:00
parent 1234494e77
commit 11161e7b1f
1 changed files with 5 additions and 5 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
+5 -5
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@@ -267,11 +267,6 @@ class NodeDiscoverer : TimerBase
return;
}
if (!handler_.canDiscoverNewNodes())
{
return; // Timer must continue to run in order to not stuck when it unlocks
}
const NodeID node_id = pickNextNodeToQueryAndCleanupMap();
if (!node_id.isUnicast())
{
@@ -280,6 +275,11 @@ class NodeDiscoverer : TimerBase
return;
}
if (!handler_.canDiscoverNewNodes())
{
return; // Timer must continue to run in order to not stuck when it unlocks
}
trace(TraceDiscoveryGetNodeInfoRequest, node_id.get());
UAVCAN_TRACE("dynamic_node_id_server::NodeDiscoverer", "Requesting GetNodeInfo from node %d",