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fix(crane_play_switcher): レフェリータイムアウト復帰後のSTOP固着を修正 #1383

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fix(crane_play_switcher): レフェリータイムアウト復帰後のSTOP固着を修正 #1383

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10 changes: 10 additions & 0 deletions crane_play_switcher/src/play_switcher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,16 @@ auto PlaySwitcher::referee_callback(const robocup_ssl_msgs::msg::Referee & msg)
if (referee_timeout_active_) {
RCLCPP_WARN(get_logger(), "レフェリーメッセージの受信が復帰しました");
referee_timeout_active_ = false;
// タイムアウト中に play_situation_msg.command を STOP へ強制遷移させたが
// latest_raw_referee は据え置いたため、同一 RAW コマンドで復帰すると
// 後段の差分判定 (latest_raw_referee.command.value != msg.command.value) を
// すり抜けて STOP に固着してしまう。復帰検出時に latest_raw_referee の
// コマンドを実在しない sentinel 値へ無効化し、次の差分判定を必ず成立させて
// 最新の referee コマンドで状況を再評価できるようにする。
// RefereeCommand.value は int32 で有効値は 0 以上のため、-1 は実在しない
// sentinel として安全に利用できる。
constexpr int32_t INVALID_REFEREE_COMMAND = -1;
latest_raw_referee.command.value = INVALID_REFEREE_COMMAND;
}
using crane_msgs::msg::PlaySituation;
using robocup_ssl_msgs::msg::Referee;
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