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AP_DDS: Add infinite initialization wait

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Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
This commit is contained in:
Ryan Friedman 2025-01-19 13:58:13 -07:00 committed by Randy Mackay
parent e8b9588015
commit 26abfc542d
1 changed files with 13 additions and 5 deletions
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18
libraries/AP_DDS/AP_DDS_Client.cpp
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@ -145,8 +145,8 @@ const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
// @Param: _MAX_RETRY
// @DisplayName: DDS ping max attempts
// @Description: The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting.
// @Range: 1 100
// @Description: The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting. Set to 0 to allow unlimited retries.
// @Range: 0 100
// @RebootRequired: True
// @Increment: 1
// @User: Standard
@ -1076,6 +1076,7 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
*/
void AP_DDS_Client::main_loop(void)
{
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s initializing...", msg_prefix);
if (!init_transport()) {
return;
}
@ -1088,9 +1089,16 @@ void AP_DDS_Client::main_loop(void)
}
// check ping
if (!uxr_ping_agent_attempts(comm, ping_timeout_ms, ping_max_retry)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s No ping response, exiting", msg_prefix);
return;
if (ping_max_retry == 0) {
if (!uxr_ping_agent(comm, ping_timeout_ms)) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s No ping response, retrying", msg_prefix);
continue;
}
} else {
if (!uxr_ping_agent_attempts(comm, ping_timeout_ms, ping_max_retry)) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s No ping response, exiting", msg_prefix);
continue;
}
}
// create session