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fix: retry to query device info when command timeout

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Livox-SDK
2021-04-20 12:20:54 +08:00
parent b08ee601c7
commit ed40a6e900
1 changed files with 24 additions and 0 deletions
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sdk_core/src/device_manager.cpp
+24
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@@ -160,6 +160,18 @@ void DeviceManager::HubLidarInfomationCallback(livox_status status, uint8_t, Hub
if (connected_cb_) {
connected_cb_(&(devices_[kHubDefaultHandle].info), kEventHubConnectionChange);
}
} else if (status == kStatusTimeout) {
LOG_WARN("Query lidars information Timeout.");
if (IsDeviceConnected(kHubDefaultHandle)) {
LOG_INFO("Retry to query lidars information.");
command_handler().SendCommand(kHubDefaultHandle,
kCommandSetHub,
kCommandIDHubQueryLidarInformation,
NULL,
0,
MakeCommandCallback<DeviceManager, HubQueryLidarInformationResponse>(
this, &DeviceManager::HubLidarInfomationCallback));
}
} else {
LOG_ERROR("Failed to query lidars information connected to hub.");
}
@@ -178,6 +190,18 @@ void DeviceManager::QueryDeviceInformationCallback(livox_status status, uint8_t
if (connected_cb_) {
connected_cb_(&devices_[handle].info, kEventConnect);
}
} else if (status == kStatusTimeout) {
LOG_WARN("Query lidar information Timeout.");
if (IsDeviceConnected(handle)) {
LOG_INFO("Retry to query lidar information.");
command_handler().SendCommand(handle,
kCommandSetGeneral,
kCommandIDGeneralDeviceInfo,
NULL,
0,
MakeCommandCallback<DeviceManager, DeviceInformationResponse>(
this, &DeviceManager::QueryDeviceInformationCallback));
}
} else {
LOG_ERROR("Failed to query lidar information.");
}