I do not think the below assignments are necessary. When the Fastcat manager calls its Process function, the state from the underlying JSD device will be read first, so jsd_egd_state_ will end up with the values assigned in jsd_egd_fault.
Only way this could not be the case would be if the JSD driver changed its rxpdo between the call to jsd_egd_fault and the call to Actuator::Read(), and that is not possible because the writing and processing functions of the JSD driver are called AFTER the Fastcat manager reads states.
I will not remove them with my changes, but I think we should in the upcoming PRs.
Originally posted by @d-loret in #86 (comment)
I do not think the below assignments are necessary. When the Fastcat manager calls its
Processfunction, the state from the underlying JSD device will be read first, sojsd_egd_state_will end up with the values assigned injsd_egd_fault.Only way this could not be the case would be if the JSD driver changed its rxpdo between the call to
jsd_egd_faultand the call toActuator::Read(), and that is not possible because the writing and processing functions of the JSD driver are called AFTER the Fastcat manager reads states.I will not remove them with my changes, but I think we should in the upcoming PRs.
Originally posted by @d-loret in #86 (comment)