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synced 2026-06-30 12:20:35 +08:00
Junwoo Hwang
c2b2ae55d9
Refactor - Require reboot for PD_GRIPPER_EN parameter change - Define gripper ACTION_NONE for readability. This makes implicit assumption that -1 equals no-action commanded more explicit - Tidy the scattered vcmd_ack struct handling cases into a single function - Refactor to remove return in the middle of function: avoids future complications where a programmer may expect the logic at the end of the function to be executed, but isn't Vehicle Command Handling - Cancel the previous running vehicle command if we receive a different vehicle command - Reject vehicle command if we get a same one that is getting executed - Save the source system & component of currently running vehicle command - Added note about new discovered edge case of having same entity sending different gripper commands consequently, where an unexpected ack result may be received