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fix: Use variable to catch fast NMT state transitions #436

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fix: Use variable to catch fast NMT state transitions #436

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1 change: 1 addition & 0 deletions canopen_master/include/canopen_master/canopen.h
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Original file line number Diff line number Diff line change
Expand Up @@ -247,6 +247,7 @@ class Node : public Layer{
void switchState(const uint8_t &s);

State state_;
State wait_for_state_;
SDOClient sdo_;
PDOMapper pdo_;

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9 changes: 6 additions & 3 deletions canopen_master/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,8 @@ struct NMTcommand{
#pragma pack(pop) /* pop previous alignment from stack */

Node::Node(const can::CommInterfaceSharedPtr interface, const ObjectDictSharedPtr dict, uint8_t node_id, const SyncCounterSharedPtr sync)
: Layer("Node 301"), node_id_(node_id), interface_(interface), sync_(sync) , state_(Unknown), sdo_(interface, dict, node_id), pdo_(interface){
: Layer("Node 301"), node_id_(node_id), interface_(interface), sync_(sync) , state_(Unknown), sdo_(interface, dict, node_id), pdo_(interface),
wait_for_state_(Unknown){
try{
getStorage()->entry(heartbeat_, 0x1017);
}
Expand Down Expand Up @@ -108,6 +109,7 @@ void Node::switchState(const uint8_t &s){
}
if(changed){
state_ = (State) s;
if(s == wait_for_state_) wait_for_state_ = Unknown;
state_dispatcher_.dispatch(state_);
cond.notify_one();
}
Expand All @@ -122,14 +124,15 @@ void Node::handleNMT(const can::Frame & msg){
template<typename T> int Node::wait_for(const State &s, const T &timeout){
boost::mutex::scoped_lock cond_lock(cond_mutex);
time_point abs_time = get_abs_time(timeout);
wait_for_state_ = s;

while(s != state_) {
while(wait_for_state_ != Unknown) {
if(cond.wait_until(cond_lock,abs_time) == boost::cv_status::timeout)
{
break;
}
}
if( s!= state_){
if(wait_for_state_ != Unknown){
if(getHeartbeatInterval() == 0){
switchState(s);
return -1;
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