同一ホストへの ROS 通信ブロック処理を削除。

toppers · May 1, 2021 · 5ab9687 · 5ab9687
1 parent ebc2a9c
commit 5ab9687
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diff --git a/src/device/peripheral/mros-dev/mros-src/protocol/cimpl/mros_protocol_master_cimpl.c b/src/device/peripheral/mros-dev/mros-src/protocol/cimpl/mros_protocol_master_cimpl.c
@@ -221,11 +221,6 @@ static mRosReturnType mros_protocol_master_register_subscriber(mRosProtocolMaste
 	}
 	while (ptr != MROS_NULL) {
 		mRosCommTcpClientType client;
-		if (ipaddr == mros_protocol_master.self_ipaddr) {
-			ptr = mros_xmlpacket_subres_get_next_uri(ptr, rpc_regc_res.reply_packet, &ipaddr, &port);
-			continue;
-		}
-
 		ret = mros_comm_tcp_client_ip32_init(&client, ipaddr, port);
 		if (ret != MROS_E_OK) {
 			ROS_ERROR("%s %s() %u ret=%d", __FILE__, __FUNCTION__, __LINE__, ret);

diff --git a/src/device/peripheral/mros-dev/mros-src/protocol/cimpl/mros_protocol_server_proc_cimpl.c b/src/device/peripheral/mros-dev/mros-src/protocol/cimpl/mros_protocol_server_proc_cimpl.c
@@ -255,10 +255,6 @@ static mRosReturnType mros_proc_slave_publisher_update(mRosCommTcpClientType *cl
 	ret = MROS_E_OK;
 	ptr = mros_xmlpacket_pubupreq_get_first_uri(&mros_proc_slave_decoded_requst.request.publisher_update.topic_name.res.tail[1], &tcp_conn.ipaddr, &tcp_conn.port);
 	while (ptr != MROS_NULL) {
-		if (tcp_conn.ipaddr == self_ipaddr) {
-			ptr = mros_xmlpacket_pubupreq_get_next_uri(ptr, packet, &tcp_conn.ipaddr, &tcp_conn.port);
-			continue;
-		}
 		if (mros_proc_connector_get_first(topic_id, MROS_TOPIC_CONNECTOR_PUB, MROS_NODE_TYPE_OUTER, &tcp_conn) != MROS_ID_NONE) {
 			ptr = mros_xmlpacket_pubupreq_get_next_uri(ptr, packet, &tcp_conn.ipaddr, &tcp_conn.port);
 			continue;