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Feature/handle reconnection #131

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@smalik007 smalik007 commented Jun 1, 2023

What is changed

  1. Changed returned types of TCP request API to bool from void, to capture unsuccessful connection and failures from api and propagate boolean info to upper level APIs to take further action by user need.
  2. On a successful connection, user has option to enable/disable udp packet monitoring using udp_connection_monitor rosparam, If enabled it will keep monitoring the udp packets that device is broadcasting, for also configurable by watchdog time of udp_connection_monitor_watchdog_timeout_ms rosparam, when no udp packet is received for configured amount of time, the driver would go to reinitialize state and send the communication setting over tcp indefinitely. When the connection is re-established and we receive a response to TCP request the node resumes with normal operation.
  3. Added Connection Status field in GeneralSystemStateMsg.msg to have the device status reflected on the /diagnostics topic.
  4. Changed launch files to use config params loaded as yaml file to make it more readable and easy to maintain.

@lenpuc lenpuc mentioned this pull request Jul 26, 2023
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