Set periodofcheck to 250 if not parsed from config

robotology · Dec 27, 2023 · 141e34c · 141e34c
1 parent 2603a27
commit 141e34c
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
@@ -81,7 +81,7 @@ extern "C" {
 #define EOMTHEEMSAPPLCFG_VERSION_MAJOR          (VERSION_MAJOR_OFFSET+3)
 //  <o> minor           <0-255> 
 //  <o> minor           <0-255>
-#define EOMTHEEMSAPPLCFG_VERSION_MINOR          83
+#define EOMTHEEMSAPPLCFG_VERSION_MINOR          97
 
 //  </h>version
 

diff --git a/...DY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/embot_app_eth_theBATservice.cpp b/...DY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/embot_app_eth_theBATservice.cpp
@@ -90,7 +90,7 @@ struct embot::app::eth::theBATservice::Impl {
   CANmonitor canmonitor{};
   static constexpr CANmonitor::Config defaultcanmonitorconfig{
       {}, // the map is left empty
-      300 * embot::core::time1millisec,
+      200 * embot::core::time1millisec,
       CANmonitor::Report::ALL,
       10 * embot::core::time1second,
       s_eobj_ownname,
@@ -474,8 +474,11 @@ eOresult_t embot::app::eth::theBATservice::Impl::Start() {
   CANmonitor::Config cfg = defaultcanmonitorconfig;
   // use ...
   cfg.target.clear();
-  //cfg.periodofcheck = embot::core::time1millisec * service.servconfig.data.as.battery.canmonitorconfig.periodofcheck;
-  cfg.periodofcheck = embot::core::time1millisec * (uint8_t)300;
+  // check if we are not using custom value > 100 for service.servconfig.data.as.battery.canmonitorconfig.periodofcheck 
+  // if not we are setting it to 250 in order to not having error when canmonitor checks for BAT frames
+  if(service.servconfig.data.as.battery.canmonitorconfig.periodofcheck == 0)
+      service.servconfig.data.as.battery.canmonitorconfig.periodofcheck = 250;
+  cfg.periodofcheck = embot::core::time1millisec * service.servconfig.data.as.battery.canmonitorconfig.periodofcheck;
   cfg.periodofreport = embot::core::time1millisec * service.servconfig.data.as.battery.canmonitorconfig.periodofreport;
   cfg.reportmode = static_cast<CANmonitor::Report>(service.servconfig.data.as.battery.canmonitorconfig.reportmode);
   canmonitor.configure(cfg);