fix(vehicle_cmd_gate): put back subscriber rather than using polling subsriber #7500
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Signed-off-by: Go Sakayori <[email protected]>
Signed-off-by: Go Sakayori <[email protected]>
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…subsriber (autowarefoundation#7500) put back polling subscribers to subscribers in neccesary cases Signed-off-by: Go Sakayori <[email protected]> Signed-off-by: Go Sakayori <[email protected]> Signed-off-by: Simon Eisenmann <[email protected]>
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…subsriber (#7500) put back polling subscribers to subscribers in neccesary cases Signed-off-by: Go Sakayori <[email protected]> Signed-off-by: Go Sakayori <[email protected]>
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Description
The previous PR changed the subscirbers to polling subscribers which is called in onTimer function. From the perspective of verifiability and latency, polling subscribers are restored to normal subscribers to achieve event-driven approach, except for turn indicators, hazard lights, and gear command. These 3 values are only referred in the onTimer function, and therefore the polling subscriber would be appropriate.
Tests performed
Could engage on PSim.
Effects on system behavior
Not applicable.
Interface changes
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