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NodeStatusMonitor: Fix to premature node timeout

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Pavel Kirienko
2015-07-23 14:47:57 +03:00
parent 5bf015aa28
commit ad12760d7f
1 changed files with 4 additions and 7 deletions
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libuavcan/include/uavcan/protocol/node_status_monitor.hpp
+4 -7
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@@ -67,7 +67,7 @@ public:
};
private:
enum { TimerPeriodMs100 = 4 };
enum { TimerPeriodMs100 = 2 };
typedef MethodBinder<NodeStatusMonitor*,
void (NodeStatusMonitor::*)(const ReceivedDataStructure<protocol::NodeStatus>&)>
@@ -138,22 +138,19 @@ private:
for (uint8_t i = 1; i <= NodeID::Max; i++)
{
const NodeID nid(i);
UAVCAN_ASSERT(nid.isUnicast());
Entry& entry = getEntry(nid);
Entry& entry = getEntry(i);
if (entry.time_since_last_update_ms100 >= 0 &&
entry.status.mode != protocol::NodeStatus::MODE_OFFLINE)
{
entry.time_since_last_update_ms100 =
int8_t(entry.time_since_last_update_ms100 + int8_t(TimerPeriodMs100));
if (entry.time_since_last_update_ms100 >= OfflineTimeoutMs100)
if (entry.time_since_last_update_ms100 > OfflineTimeoutMs100)
{
Entry new_entry_value = entry;
new_entry_value.time_since_last_update_ms100 = OfflineTimeoutMs100;
new_entry_value.status.mode = protocol::NodeStatus::MODE_OFFLINE;
changeNodeStatus(nid, new_entry_value);
changeNodeStatus(i, new_entry_value);
}
}
}