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Fix get_dxl_data service deadlock - #116
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mandicLuka wants to merge 1 commit into
Closed
mandicLuka wants to merge 1 commit into
mandicLuka wants to merge 1 commit into
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Summary
The get_dxl_data callback queues a read, then waits for ReadItemBuf() to mark it complete. The callback is processed by spin_some() from DynamixelHardware::read(), after ReadItemBuf() has run for that cycle. Waiting in the callback therefore prevents the next read cycle from starting and always reaches the request timeout.
Read the requested control-table item directly with ReadItem() instead. This preserves the service API and its failure response while allowing callers to verify a write safely.
Testing
Not run: validating this requires a connected DYNAMIXEL bus.