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Properly handling the initial node status broadcast in passive mode

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This commit is contained in:
Pavel Kirienko
2014-07-23 03:17:11 +04:00
parent 43c5d2e090
commit 99b7aa8579
1 changed files with 8 additions and 3 deletions
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libuavcan/src/protocol/uc_node_status_provider.cpp
+8 -3
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@@ -69,10 +69,15 @@ int NodeStatusProvider::startAndPublish()
return -ErrNotInited; return -ErrNotInited;
} }
int res = publish(); // Initial broadcast int res = -1;
if (res < 0)
if (!getNode().isPassiveMode())
{ {
goto fail; res = publish();
if (res < 0) // Initial broadcast
{
goto fail;
}
} }
res = gdr_sub_.start(GlobalDiscoveryRequestCallback(this, &NodeStatusProvider::handleGlobalDiscoveryRequest)); res = gdr_sub_.start(GlobalDiscoveryRequestCallback(this, &NodeStatusProvider::handleGlobalDiscoveryRequest));