botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 09:37:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

Add back leader update

Browse Source
This commit is contained in:
Johnathon Slightham
2026-01-06 17:19:48 -05:00
parent 7f717f56ba
commit 5e8827c128
1 changed files with 7 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
components/rpc/CommunicationRouter.cpp
View File

@@ -34,6 +34,13 @@ CommunicationRouter::~CommunicationRouter() { vTaskDelete(m_router_thread); }
const auto that = static_cast<CommunicationRouter *>(args);
while (true) {
if (std::chrono::system_clock::now() - that->m_last_leader_updated >
std::chrono::seconds(15)) {
that->m_last_leader_updated = std::chrono::system_clock::now();
ESP_LOGI(TAG, "Updating leader");
that->update_leader();
}
for (uint8_t channel = 0;
channel <
MODULE_TO_NUM_CHANNELS_MAP[that->m_config_manager.get_module_type()];