Merge pull request 4am-robotics#286 from ipa-mdl/bms-recover

BMS: restart CAN interface on failure
ipa-nhg · Aug 4, 2016 · b3ec335 · b3ec335
2 parents c457586 + d78f2fb
commit b3ec335
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/cob_bms_driver/src/cob_bms_driver_node.cpp b/cob_bms_driver/src/cob_bms_driver_node.cpp
@@ -460,6 +460,11 @@ void CobBmsDriverNode::diagnosticsTimerCallback(const ros::TimerEvent& event)
 {
 	//update diagnostics
 	updater_.update();
+	if(!socketcan_interface_.getState().isReady()){
+		ROS_ERROR("Restarting BMS socketcan");
+		socketcan_interface_.shutdown();
+		socketcan_interface_.recover();
+	}
 }
 
 int main(int argc, char **argv)