[BUG: #36] proto-ext-whiterabbit: Fix the stuck in UNCALIBRAT/IDLE

Fix the stuck in UNCALIBRAT/IDLE after e.g. accuracy changed Signed-off-by: Adam Wujek <adam.wujek@creotech.pl>

[BUG: #36] proto-ext-whiterabbit: Fix the stuck in UNCALIBRAT/IDLE
Fix the stuck in UNCALIBRAT/IDLE after e.g. accuracy changed Signed-off-by: Adam Wujek <adam.wujek@creotech.pl>
81a40a22 · Adam Wujek · Adam Wujek · 023f410a · 81a40a22
Commit 81a40a22 authored Sep 23, 2021 by Adam Wujek Committed by Adam Wujek Sep 24, 2021
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hooks.c proto-ext-whiterabbit/hooks.c +9 -0

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--- a/proto-ext-whiterabbit/hooks.c
+++ b/proto-ext-whiterabbit/hooks.c
@@ -335,7 +335,16 @@ static int wr_extension_state_changed( struct pp_instance * ppi) {

 static int wr_new_slave (struct pp_instance *ppi, void *buf, int len) {
 	if ( ppi->extState==PP_EXSTATE_ACTIVE ) {
+		struct wr_dsport *wrp = WR_DSPOR(ppi);
+
 		wr_servo_init(ppi);
+
+		/* To avoid comparison of sequenceId with parentAnnSequenceId
+		 * and portIndentity with parentAnnPortIdentity set
+		 * doRestart as TRUE*/
+		if (ppi->ext_data)
+			WRH_SRV(ppi)->doRestart = TRUE;
+
 	}
 	return 0;
 }