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Fix issue 20, don't publish sensor data when there is a sensor timeout #21

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Fix issue 20, don't publish sensor data when there is a sensor timeout #21

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de4ad22
Fix issue 20, don't publish sensor data when there is a sensor timeout
Jun 10, 2025
7509df2
Draw conclusion in the watchdog, not in the diagnostics callback
Jun 10, 2025
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3 changes: 2 additions & 1 deletion off_highway_can/include/off_highway_can/receiver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -141,6 +141,8 @@ class Receiver : public rclcpp::Node
const bool use_fd_{false};
/// Use J1939 protocol, defaults to false if J1939 protocol handling is not implemented for sensor
bool use_j1939_{false};
/// Store the timeout status
bool is_timeout_{false};

private:
/**
Expand Down Expand Up @@ -175,7 +177,6 @@ class Receiver : public rclcpp::Node
/// information
Messages messages_;


double timeout_;
double watchdog_frequency_;
};
Expand Down
9 changes: 4 additions & 5 deletions off_highway_can/src/receiver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,8 @@ void Receiver::stop()

void Receiver::callback_watchdog()
{
if ((now() - last_message_received_).seconds() > timeout_) {
is_timeout_ = (now() - last_message_received_).seconds() > timeout_;
if (is_timeout_) {
RCLCPP_WARN(get_logger(), "Timeout of watchdog for receiving node %s", get_name());
force_diag_update();
last_message_received_ = now();
Expand Down Expand Up @@ -110,11 +111,9 @@ void Receiver::diagnostics(diagnostic_updater::DiagnosticStatusWrapper & stat) c
{
using diagnostic_msgs::msg::DiagnosticStatus;

bool timeout = (now() - last_message_received_).seconds() > timeout_;
stat.add("Timeout", is_timeout_);

stat.add("Timeout", timeout);

if (timeout) {
if (is_timeout_) {
stat.summary(DiagnosticStatus::ERROR, "Error");
} else {
stat.summary(DiagnosticStatus::OK, "Ok");
Expand Down
4 changes: 2 additions & 2 deletions off_highway_general_purpose_radar/src/receiver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -228,7 +228,7 @@ void Receiver::manage_targets()

void Receiver::publish_targets()
{
if (pub_targets_->get_subscription_count() == 0) {
if (pub_targets_->get_subscription_count() == 0 || is_timeout_) {
return;
}

Expand All @@ -247,7 +247,7 @@ void Receiver::publish_targets()

void Receiver::publish_pcl()
{
if (pub_targets_pcl_->get_subscription_count() == 0) {
if (pub_targets_pcl_->get_subscription_count() == 0 || is_timeout_) {
return;
}

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4 changes: 2 additions & 2 deletions off_highway_radar/src/receiver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -222,7 +222,7 @@ void Receiver::manage_objects()

void Receiver::publish_objects()
{
if (pub_objects_->get_subscription_count() == 0) {
if (pub_objects_->get_subscription_count() == 0 || is_timeout_) {
return;
}

Expand All @@ -241,7 +241,7 @@ void Receiver::publish_objects()

void Receiver::publish_pcl()
{
if (pub_objects_pcl_->get_subscription_count() == 0) {
if (pub_objects_pcl_->get_subscription_count() == 0 || is_timeout_) {
return;
}

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4 changes: 2 additions & 2 deletions off_highway_uss/src/receiver.cpp
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Expand Up @@ -271,7 +271,7 @@ void Receiver::manage_and_publish_objects()

void Receiver::publish_objects()
{
if (pub_objects_->get_subscription_count() == 0) {
if (pub_objects_->get_subscription_count() == 0 || is_timeout_) {
return;
}

Expand All @@ -290,7 +290,7 @@ void Receiver::publish_objects()

void Receiver::publish_pcl()
{
if (pub_objects_pcl_->get_subscription_count() == 0) {
if (pub_objects_pcl_->get_subscription_count() == 0 || is_timeout_) {
return;
}

Expand Down