timespec

2025-12-04 11:10:27 +03:00
parent d868810048
commit da9cd51e5c
4 changed files with 415 additions and 396 deletions
--- a/mcc/mcc_slewing_model.h
+++ b/mcc/mcc_slewing_model.h
@@ -142,7 +142,16 @@ public:
            std::vector<bool> in_zone_vec;


-            t_err = controls->telemetryData(&tdata);
+            //t_err = controls->telemetryData(&tdata);
+            {
+                std::lock_guard lock{*_currentParamsMutex};
+                t_err = controls->waitForTelemetryData(&tdata);
+
+                if (t_err) {
+                    return *_lastError =
+                           mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
+                }
+            }

            if (t_err) {
                return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);