yikestone/ros_arduino_bridge
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Undid last commit since it introduced another bug...

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This commit is contained in:
Patrick Goebel 2016-09-13 07:58:33 -07:00
parent f5b825c8ee
commit 5f35efe852
1 changed files with 5 additions and 3 deletions
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8
ros_arduino_python/src/ros_arduino_python/diagnostics.py
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@ -71,11 +71,13 @@ class DiagnosticsUpdater():
self.diag_updater.setHardwareID(self.name) self.diag_updater.setHardwareID(self.name)
# Create a frequency monitor that tracks the publishing frequency for this component # Create a frequency monitor that tracks the publishing frequency for this component
# TODO: Need to add frequency check for servo controller (joint_update_rate)
if self.component.rate > 0: if self.component.rate > 0:
if "Servo" not in str(self.component): if "Servo" in str(self.component):
freq_bounds = diagnostic_updater.FrequencyStatusParam({'min': self.component.rate, 'max': self.component.rate}, 0.3, 5) freq_bounds = diagnostic_updater.FrequencyStatusParam({'min': self.component.device.joint_update_rate, 'max': self.component.device.joint_update_rate}, 0.3, 5)
self.freq_diag = diagnostic_updater.HeaderlessTopicDiagnostic(self.component.name + '_freq', self.diag_updater, freq_bounds) self.freq_diag = diagnostic_updater.HeaderlessTopicDiagnostic(self.component.name + '_freq', self.diag_updater, freq_bounds)
else:
freq_bounds = diagnostic_updater.FrequencyStatusParam({'min': self.component.rate, 'max': self.component.rate}, 0.3, 5)
self.freq_diag = diagnostic_updater.HeaderlessTopicDiagnostic(self.component.name + '_freq', self.diag_updater, freq_bounds)
# Create an error monitor that tracks timeouts, serial exceptions etc # Create an error monitor that tracks timeouts, serial exceptions etc
self.error_diag = diagnostic_updater.FunctionDiagnosticTask(self.name, self.get_error_rate) self.error_diag = diagnostic_updater.FunctionDiagnosticTask(self.name, self.get_error_rate)