non transmit time from bus.yml

ros-industrial · Nov 3, 2023 · 3e53a2f · 3e53a2f
1 parent e6fcd6d
commit 3e53a2f
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Showing 3 changed files with 15 additions and 4 deletions.
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -25,7 +25,7 @@ jobs:
           registry: ${{ env.REGISTRY }}
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
-      
+
       - name: Extract metadata (tags, labels) for Docker
         id: meta
         uses: docker/metadata-action@v4

diff --git a/...base_driver/include/canopen_base_driver/node_interfaces/node_canopen_base_driver_impl.hpp b/...base_driver/include/canopen_base_driver/node_interfaces/node_canopen_base_driver_impl.hpp
@@ -35,6 +35,17 @@ void NodeCanopenBaseDriver<NODETYPE>::init(bool called_from_base)
 template <>
 void NodeCanopenBaseDriver<rclcpp_lifecycle::LifecycleNode>::configure(bool called_from_base)
 {
+  try
+  {
+    this->non_transmit_timeout_ =
+      std::chrono::milliseconds(this->config_["non_transmit_timeout"].as<int>());
+  }
+  catch (...)
+  {
+  }
+  RCLCPP_INFO(
+    this->node_->get_logger(), "Non transmit timeout %d", this->non_transmit_timeout_.count());
+
   try
   {
     polling_ = this->config_["polling"].as<bool>();

diff --git a/canopen_core/include/canopen_core/node_interfaces/node_canopen_master.hpp b/canopen_core/include/canopen_core/node_interfaces/node_canopen_master.hpp
@@ -86,7 +86,7 @@ class NodeCanopenMaster : public NodeCanopenMasterInterface
   std::string master_bin_;
   std::string can_interface_name_;
   uint32_t timeout_;
-  
+
   std::thread spinner_;
 
 public:
@@ -167,14 +167,14 @@ class NodeCanopenMaster : public NodeCanopenMasterInterface
     this->configured_.store(true);
   }
 
-  virtual void configure(bool called_from_base) 
+  virtual void configure(bool called_from_base)
   {
     std::optional<int> timeout;
     try
     {
       timeout = this->config_["boot_timeout"].as<int>();
     }
-    catch(...)
+    catch (...)
     {
       RCLCPP_WARN(
         this->node_->get_logger(),