From 263652c823b5dd783831d1173c1489fcf2e1a417 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 17 Nov 2017 10:27:54 +0000
Subject: [PATCH] Added a boolean to enable/disable the watchdog in the
actions. Added this boolean in the configuration files. Extended the maximum
watchdog time to 10 minutes.
---
cfg/PlayMotionModule.cfg | 3 ++-
src/play_motion_module.cpp | 5 ++++-
2 files changed, 6 insertions(+), 2 deletions(-)
diff --git a/cfg/PlayMotionModule.cfg b/cfg/PlayMotionModule.cfg
index 0459d84..1be1b6f 100755
--- a/cfg/PlayMotionModule.cfg
+++ b/cfg/PlayMotionModule.cfg
@@ -44,7 +44,8 @@ play_action = gen.add_group("Play motion action")
gen.add("rate_hz", double_t, 0, "Gripper module rate in Hz", 1.0, 1.0, 100.0)
play_action.add("action_max_retries",int_t, 0, "Maximum number of retries for the action start", 1, 1, 10)
-play_action.add("feedback_watchdog_time_s",double_t, 0, "Maximum time between feedback messages", 1, 0.01, 50)
+play_action.add("feedback_watchdog_time_s",double_t, 0, "Maximum time between feedback messages", 1, 0.01, 600)
+play_action.add("enable_watchdog", bool_t, 0, "Enable action watchdog", True)
play_action.add("timeout_s", double_t, 0, "Maximum time allowed to complete the action", 1, 0.1, 30)
play_action.add("enable_timeout", bool_t, 0, "Enable action timeout", True)
play_action.add("enabled", bool_t, 0, "Enable action execution", True)
diff --git a/src/play_motion_module.cpp b/src/play_motion_module.cpp
index 69d9676..003a96c 100644
--- a/src/play_motion_module.cpp
+++ b/src/play_motion_module.cpp
@@ -104,7 +104,10 @@ void CPlayMotionModule::reconfigure_callback(play_motion_module::PlayMotionModul
this->set_rate(config.rate_hz);
/* motion action parameters */
this->play_motion_action.set_max_num_retries(config.action_max_retries);
- this->play_motion_action.set_feedback_watchdog_time(config.feedback_watchdog_time_s);
+ if(config.enable_watchdog)
+ this->play_motion_action.enable_watchdog(config.feedback_watchdog_time_s);
+ else
+ this->play_motion_action.disable_watchdog();
if(this->config.enable_timeout)
this->play_motion_action.enable_timeout(config.timeout_s);
else
--
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