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micro-ROS / system_modes

System modes for ROS 2 and micro-ROS
Apache License 2.0
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Prevent redundant mode changes #60

Closed norro closed 3 years ago

norro commented 3 years ago

Ensure that redundant mode changes are handled properly. If mode change is requested to a mode that is already active according to the mode inference, no service should be called, but the ModeChange service request should still be returned with success.

ghost commented 3 years ago

Hey! Where can i find the code for it?

norro commented 3 years ago

I expect this to be handled in the mode manager in change_mode() and change_part_mode(). Before doing anything in these methods, mode manager should compare the requested mode with the current mode, accessible from the mode inference.

If you want to give it a shot, please do so and have a look at CONTRIBUTING.md, e.g., regarding signing your commits and adding your name to the NOTICE file.