From 11161e7b1f4c3749e1d5965c480606177262975d Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Sun, 24 May 2015 17:18:14 +0300 Subject: [PATCH] NodeDiscoverer logic fix --- .../dynamic_node_id_server/node_discoverer.hpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp index d8042074a2..ef7f901749 100644 --- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp +++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp @@ -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",