Merge branch 'pcic_p_command_ack' into 'main'

PCIC p command ACK based frame reception. Closes #283 See merge request syntron/support/csr/ifm3d/ifm3d!374
ifm · Apr 5, 2024 · f8bc685 · f8bc685
2 parents 12e82e7 + 567e434
commit f8bc685
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diff --git a/ChangeLog.md b/ChangeLog.md
@@ -5,6 +5,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
 ## [Unreleased]
+### Fixed
+- Fix receiving frames with default format before PCIC p command
+    has been acknowledged
 
 ## 1.5.2 - 2024-02-20
 ### Added

diff --git a/modules/framegrabber/src/libifm3d_framegrabber/frame_grabber_impl.hpp b/modules/framegrabber/src/libifm3d_framegrabber/frame_grabber_impl.hpp
@@ -595,7 +595,14 @@ ifm3d::FrameGrabber::Impl::PayloadHandler(const asio::error_code& ec,
 
   if (ticket_id == ifm3d::TICKET_IMAGE || ticket_id == ifm3d::TICKET_ALGO_DGB)
     {
-      this->ImageHandler();
+      if (this->is_ready_)
+        {
+          this->ImageHandler();
+        }
+      else
+        {
+          LOG_DEBUG("Waiting for pcic command ACK!");
+        }
     }
   else if (ticket_id == ifm3d::TICKET_ASYNC_ERROR)
     {
@@ -687,7 +694,6 @@ ifm3d::FrameGrabber::Impl::ImageHandler()
               this->new_frame_callback_(frame);
             }
         }
-
       catch (std::exception ex)
         {
           LOG_WARNING("Bad image: {}", ex.what());