search

FedericoPecora / coordination_oru

Robot-agnostic online coordination for multiple robots
GNU General Public License v3.0
52 stars 28 forks source link

Should the setCriticalPoint() return a boolean? #7

Open annamannucci opened 3 years ago

annamannucci commented 3 years ago

It may happen that the tracker cannot update the current critical point due to delays in communication. The current architecture is not robust to such types of faults. How to deal with them?

FedericoPecora commented 3 years ago

setCriticalPoint() returning a boolean is an option, but not a very robust one since it assumes that you know that the message has not been received. A more robust way is to check in the next RobotReport (after invoking setCriticalPoint(), that is) to see if the currently known CP is the one that you wanted to set.