server cpp: improve handling of crashed CF

When connecting two CFs and turning on off, the unicast connection of the other one essentially froze. There were two reasons: 1.) Division by zero caused a crash; 2.) The crazyflie_link_cpp essentially starved one connection. Fixes #419.
IMRCLab · Feb 7, 2024 · 6d1495b · 6d1495b
1 parent 4260ba1
commit 6d1495b
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diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools
diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp
@@ -828,9 +828,11 @@ class CrazyflieROS
  }
 
  auto stats = cf_.connectionStatsDelta();
- float ack_rate = stats.sent_count / stats.ack_count;
- if (ack_rate < min_ack_rate_) {
- RCLCPP_WARN(logger_, "Ack rate: %.1f %%", ack_rate * 100);
+ if (stats.ack_count > 0) {
+ float ack_rate = stats.sent_count / stats.ack_count;
+ if (ack_rate < min_ack_rate_) {
+ RCLCPP_WARN(logger_, "Ack rate: %.1f %%", name_.c_str(), ack_rate * 100);
+ }
  }
 
  if (publish_stats_) {