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- Wait for a new message
- After receiving a message, start your computation
- Then send the new command(s) to the vehicle
- Remove messages that were received during computation, as they are old and potentially unusable, and wait for the next message
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Make sure to ignore signals received during computation, if that takes longer than a single period.
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The history for this signal is set to 1, but you may still get an outdated signal here if you missed a period during your computation and read the next VehicleStateList in the middle of that next period. In that case, it may be better to skip that period as well and wait for the following one to start.
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% Read the current vehicle information from the according reader, if such data is available
% Due to the set waitset, you wait for up to 10 seconds at take(...) if no data is available
sample = VehicleStateList;
status = 0;
stateSampleCount = 0;
sampleInfo = DDS.SampleInfo;
[sample, status, stateSampleCount, sampleInfo] = stateReader.take(sample);
% In this example, messages that were received during computation that should be ignored are not thrown away before waiting for new data
% If your script is faster than the period with which it is called, this is not problematic, in any other case you will probably end up using wrong timing and outdated vehicle data
% Thus, you should get rid of old data at the end of any iteration ('clear' stateReader) Read the current vehicle information from the according reader, if such data is available
% Due to the set waitset, you wait for up to 10 seconds at take(...) if no data is available
sample = VehicleStateList;
status = 0;
stateSampleCount = 0;
sampleInfo = DDS.SampleInfo;
[sample, status, stateSampleCount, sampleInfo] = stateReader.take(sample);
% Check if any new message was received, then proceed with handling the data, computing your solution and finally sending back a command to the vehicle(s) your script controls
if stateSampleCount > 0
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