Add boot timeout (1s)

Signed-off-by: Christoph Hellmann Santos <[email protected]>

canopen_base_driver/src/lely_driver_bridge.cpp

@@ -71,6 +71,8 @@ std::string LelyBridgeErrCategory::message(int ev) const
     case LelyBridgeErrc::SerialNumberDifference:
       return "Value of object 1018:04 from CANopen device is different to value in object 1F88 "
              "(Serial number).";
+    case LelyBridgeErrc::TimedOut:
+      return "The boot configure process timed out (took more than 1 second).";
     default:
       return "(unrecognized error)";
   }
@@ -112,6 +114,18 @@ void LelyDriverBridge::OnBoot(canopen::NmtState st, char es, const ::std::string
   boot_cond.notify_all();
 }
 
+void LelyDriverBridge::OnConfig(::std::function<void(::std::error_code ec)> res) noexcept
+{
+  std::cout << "OnConfig" << std::endl;
+  this->SubmitWait(
+    std::chrono::seconds(10),
+    [this, res](std::error_code ec)
+    {
+      std::cout << "OnConfig" << std::endl;
+      FiberDriver::OnConfig(res);
+    });
+}
+
 void LelyDriverBridge::OnRpdoWrite(uint16_t idx, uint8_t subidx) noexcept
 {
   lely::COSub * sub = this->dictionary_->find(idx, subidx);