fix(flex-stacker): clear ack message cache when a stall is detected.

Opentrons · Nov 3, 2024 · 98d8fc0 · 98d8fc0
1 parent 49beb3b
commit 98d8fc0
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/stm32-modules/include/flex-stacker/flex-stacker/host_comms_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/host_comms_task.hpp
@@ -215,6 +215,10 @@ class HostCommsTask {
         std::sized_sentinel_for<InputLimit, InputIt>
     auto visit_message(const messages::ErrorMessage& msg, InputIt tx_into,
                        InputLimit tx_limit) -> InputIt {
+        // stall detected, clear the message cache.
+        if (msg.code == errors::ErrorCode::MOTOR_STALL_DETECTED) {
+            ack_only_cache.clear();
+        }
         return errors::write_into_async(tx_into, tx_limit, msg.code);
     }