Merge pull request #18 from tidewise/read-cmd_in-once-per-update-hook

fix: read cmd in once per update hook
tidewise · Dec 17, 2024 · 9fe580c · 9fe580c
2 parents 9b57973 + af0c7f8
commit 9fe580c
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/tasks/Task.cpp b/tasks/Task.cpp
@@ -161,7 +161,9 @@ void Task::publishFault()
 }
 void Task::updateHook()
 {
-    while (_cmd_in.read(m_cmd_in) == RTT::NewData) {
+    TaskBase::updateHook();
+
+    if (_cmd_in.read(m_cmd_in) == RTT::NewData) {
         if (m_cmd_in.elements.size() != 1) {
             return exception(INVALID_COMMAND_SIZE);
         }
@@ -185,8 +187,6 @@ void Task::updateHook()
 
     auto state = readAndPublishControllerStates();
     evaluateInverterStatus(state.inverter_status);
-
-    TaskBase::updateHook();
 }
 void Task::processIO()
 {