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The Base Plant logic was originally based upon timestamps were initialized at -1 to indicate no data had been updated. This would cause issues when combined with ROS so we changed the initialization value of timestamps to 0. This commit fixes the resulting logic bugs that relied on timestamps of -1 to determine whether or not to run various code. Basic things include no calls to pubControl() until there a control sequence has been calculated, and waiting for a new state logic. - Change explicit calls to exit() into throwing exceptions - Existing unit tests have been updated - New unit tests written to explicitly test the new logic adjustments.
- Add get/set methods for buffer_dt value - Remove template instantiation for specific buffer types as this can cause "target already defined" errors
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Plant unit tests were failing/hanging due to a change in initialization (times were previously initialized to -1 but are now initialized to 0) so these commits update the plant logic to properly handle the new time initialization robustly.
Also removed
exit(-1)lines in the base plant and replaced them with runtime exceptions for better flexibility.