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changes in operation: testing

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This commit is contained in:
Björn Ellensohn 2023-08-22 10:34:45 +02:00
parent d395693a85
commit 374351c59e
1 changed files with 5 additions and 5 deletions
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10
rmp220_middleware/rmp220_middleware.py
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@ -61,7 +61,7 @@ class StateMachineNode(Node):
def chassis_mode_callback(self, msg): def chassis_mode_callback(self, msg):
# Handle the incoming chassis status message, will update every second # Handle the incoming chassis status message, will update every second
if self.state == State.PAUSED: if self.state == State.PAUSED:
return return
else: else:
@ -129,10 +129,10 @@ class StateMachineNode(Node):
self.timeout = 20.0 self.timeout = 20.0
def timer_callback(self): def timer_callback(self):
# if self.chassis_mode == State.DISABLED or self.chassis_mode == State.STOPPED or self.chassis_mode == State.PASSIVE: if self.state == State.PAUSED or self.state == State.STOPPED or self.state == State.PASSIVE:
# return # Do nothing if chassis is disabled, stopped or passive --> should save processing power return # Do nothing if chassis is disabled, stopped or passive --> should save processing power
if self.state == State.PAUSED: # if self.state == State.PAUSED:
return # Do nothing if state is paused --> should save processing power # return # Do nothing if state is paused --> should save processing power
if self.state == State.ENABLED: if self.state == State.ENABLED:
if self.timeout <= 0: if self.timeout <= 0:
self.state = State.DISABLED self.state = State.DISABLED