From e31c1dbc4fe79bb567d2f0319b8d92c8b849e41d Mon Sep 17 00:00:00 2001
From: phfriedl <phfriedl@student.ethz.ch>
Date: Mon, 24 Apr 2017 15:56:02 +0200
Subject: [PATCH] fixed service race condition at startup, crazyflie resets
before shutdown
---
pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py | 2 ++
pps_ws/src/d_fall_pps/src/PPSClient.cpp | 4 ++--
2 files changed, 4 insertions(+), 2 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
index aec447cc..f39e25e7 100755
--- a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
@@ -129,6 +129,8 @@ if __name__ == '__main__':
rospy.spin()
rospy.loginfo("Turning off crazyflie")
cf_client._send_to_commander(0, 0, 0, 0, 0, 0, 0, 0, CONTROLLER_MOTOR)
+ #wait for client to send its commands
+ time.sleep(1.0)
cf_client._cf.close_link()
rospy.loginfo("Link closed")
else:
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 8dee05ba..60830d4b 100644
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -88,8 +88,7 @@ void ppsClientToController(ViconData data, bool autocontrolOn){
//onboardControllerType = ??????????????????????
- }
- else{
+ } else {
ROS_ERROR("Failed to call SafeControllerService");
//return 1; //return some useful stuff
}
@@ -171,6 +170,7 @@ int main(int argc, char* argv[]){
//service
//to be expanded with additional services depending on controller (currently only one available)
+ ros::service::waitForService("/SafeControllerService/RateController");
safeController = nodeHandle.serviceClient<RateController>("/SafeControllerService/RateController", true);
//safeController = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateController", true);
--
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