Dashing: Don't wait for acknowledge in setTimeMode. #84
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The basic problem is that setTimeMode can be called from within a GPS object callback (particularly when running as a "base"). Trying to reconfigure the Rate and RTCM while in the callback leads to a deadlock, as those reconfigure calls try to wait for data to come in, but new data will never come in since we are still handling the previous read. The solution here is to not wait for acknowledgement and just go on, hoping for the best. It's not an ideal solution, but it solves the problem for now. Signed-off-by: Chris Lalancette <[email protected]>
clalancette
changed the title
Signed-off-by: Chris Lalancette <[email protected]>
We need to use this version so we can set the correct message type for all ports. Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
clalancette
commented
Apr 16, 2020
| ublox_msgs::msg::CfgMSGS msgs; | ||
| msgs.msg_class = ublox_msgs::Class::RTCM; | ||
| msgs.msg_id = rtcm.id; | ||
| msgs.rates[ublox_msgs::msg::CfgMSGS::PORT_ID_UART1] = rtcm.rate; |
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One thing to note here: I'm only setting the rate on the UART1 port. There seem to be a lot of assumptions around this in the code, so I wasn't sure how to pass in which ports to set. Happy to make some modifications around this as necessary.
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The basic problem is that setTimeMode can be called from within
a GPS object callback (particularly when running as a "base").
Trying to reconfigure the Rate and RTCM while in the callback
leads to a deadlock, as those reconfigure calls try to wait for
data to come in, but new data will never come in since we are
still handling the previous read. The solution here is to not
wait for acknowledgement and just go on, hoping for the best.
It's not an ideal solution, but it solves the problem for now.
Signed-off-by: Chris Lalancette [email protected]