Optimized default timeouts

OpenCyphal-Garage · Feb 19, 2016 · 38f5591 · 38f5591
1 parent b751564
commit 38f5591
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/abstract_server.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/abstract_server.hpp
@@ -67,15 +67,16 @@ class AbstractServer : protected IAllocationRequestHandler
      */
     bool guessIfAllDynamicNodesAreAllocated(
         const MonotonicDuration& allocation_activity_timeout =
-            MonotonicDuration::fromMSec(protocol::NodeStatus::OFFLINE_TIMEOUT_MS)) const
+            MonotonicDuration::fromMSec(Allocation::MAX_REQUEST_PERIOD_MS * 2),
+        const MonotonicDuration& min_uptime = MonotonicDuration::fromMSec(6000)) const
     {
         const MonotonicTime ts = node_.getMonotonicTime();
 
         /*
          * If uptime is not large enough, the allocator may be unaware about some nodes yet.
          */
         const MonotonicDuration uptime = ts - started_at_;
-        if (uptime < allocation_activity_timeout)
+        if (uptime < max(allocation_activity_timeout, min_uptime))
         {
             return false;
         }