SpeedTracker: sanitized the timeouting

ctu-mrs · Jun 20, 2024 · b7b70e9 · b7b70e9
1 parent 6645a59
commit b7b70e9
Showing 1 changed file with 6 additions and 3 deletions.
diff --git a/src/speed_tracker/speed_tracker.cpp b/src/speed_tracker/speed_tracker.cpp
@@ -98,9 +98,9 @@ class SpeedTracker : public mrs_uav_managers::Tracker {
 
   // | ---------------- the tracker's inner state --------------- |
 
-  bool is_initialized_  = false;
-  bool is_active_       = false;
-  bool first_iteration_ = true;
+  std::atomic<bool> is_initialized_  = false;
+  std::atomic<bool> is_active_       = false;
+  std::atomic<bool> first_iteration_ = true;
 
   double _external_command_timeout_;
 
@@ -566,6 +566,9 @@ void SpeedTracker::callbackCommand(const mrs_msgs::SpeedTrackerCommand::ConstPtr
   if (!is_initialized_)
     return;
 
+  if (!is_active_)
+    return;
+
   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackCommand");
   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("SpeedTracker::callbackCommand", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);