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feat(safety): add timeout to control thread input queue #164

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3 tasks
t-bre opened this issue Oct 11, 2022 · 0 comments
Open
3 tasks

feat(safety): add timeout to control thread input queue #164

t-bre opened this issue Oct 11, 2022 · 0 comments
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feature New features
Milestone
STAG 9

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@t-bre
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t-bre commented Oct 11, 2022

Description

Currently control thread waits forever for an input. It would be safer to wait for a certain amount of time, and then time out and send a torque request of zero.

Requirements

  • Define configuration parameter for input timeout.
  • Modify queue wait to include finite timeout.
  • Handle timeout, sending zero torque request.
@t-bre t-bre added the feature New features label Oct 11, 2022
@t-bre t-bre added this to the STAG 9 milestone Oct 11, 2022
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@t-bre