Backport bug fix from upkie working branch

upkie · Jul 2, 2024 · 978b094 · 978b094
1 parent 73458c0
commit 978b094
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -8,6 +8,10 @@ All notable changes to this project will be documented in this file.
 
 - Spine: log when dictionary logger is full
 
+### Fixed
+
+- Fix duplicate ``data_`` attribute in pi3hat actuation interface
+
 ## [2.5.0] - 2024-06-11
 
 ### Added

diff --git a/vulp/actuation/Pi3HatInterface.cpp b/vulp/actuation/Pi3HatInterface.cpp
@@ -55,7 +55,6 @@ void Pi3HatInterface::process_action(const Dictionary& action) {}
 
 void Pi3HatInterface::cycle(
     std::function<void(const moteus::Output&)> callback) {
-  const moteus::Data& data = this->data_;
   std::lock_guard<std::mutex> lock(mutex_);
   if (ongoing_can_cycle_) {
     throw std::logic_error(
@@ -64,7 +63,6 @@ void Pi3HatInterface::cycle(
 
   callback_ = std::move(callback);
   ongoing_can_cycle_ = true;
-  data_ = data;
 
   can_wait_condition_.notify_all();
 }

diff --git a/vulp/actuation/Pi3HatInterface.h b/vulp/actuation/Pi3HatInterface.h
@@ -156,9 +156,6 @@ class Pi3HatInterface : public Interface {
   //! Callback function called upon completion of a CAN cycle
   std::function<void(const moteus::Output&)> callback_;
 
-  //! Buffer to read commands from and write replies to.
-  moteus::Data data_;
-
   //! Thread for CAN communication cycles
   std::thread can_thread_;