Add heartbeat to Mission Control Protocol #261
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huttongrabiel
previously approved these changes
Sep 21, 2023
* Update camera configs * Add comment
… fix (#264) * Report full attitude, fix lat/lon bug, report attitude even if no gps fix * Address comments
huttongrabiel
requested changes
Oct 3, 2023
huttongrabiel
requested changes
Oct 3, 2023
huttongrabiel
approved these changes
Oct 10, 2023
AyushKulk
pushed a commit
that referenced
this pull request
Oct 31, 2023
* Implement watchdog * Use watchdog in MCP * Address comments * Update camera configs (#263) * Update camera configs * Add comment * Report full attitude, fix lat/lon bug, report attitude even if no gps fix (#264) * Report full attitude, fix lat/lon bug, report attitude even if no gps fix * Address comments * Format code * Address comments
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This is a cleaned up version of functionality hacked together during CIRC 2023.
If the MC <-> Rover connection is severed (e.g. the cable disconnects) the disconnect handler isn't called, so the rover keeps running. This is unsafe behavior, since it might result in a runaway rover. We fix this by implementing a heartbeat in the websocket protocol. If enabled, then the rover will periodically ping MC and use pongs to feed a watchdog. If the watchdog starves, then the rover is E-stopped.
Note that this needs to be tested on the rover prior to being merged.