config start time only happens if configuring started AM-695/error-on-init

Author: Aaron Roller

rostest/error_tolerant_before_config/error_tolerant_before_config_rostest.cpp

@@ -11,12 +11,6 @@ class LifeCycleErrorTest : public RostestBase, public am::AMLifeCycle
   {
       errorTolerant("tolerant error during construction", "HW8S");
   }
-
-
-  void onConfigure()
-  {
-    //do nothing...stay in configure
-  }
 };
 
 TEST_F(LifeCycleErrorTest, testStatus_Error)

src/super_lib/am_life_cycle.cpp

@@ -263,10 +263,10 @@ bool AMLifeCycle::withinConfigureTolerance()
 {
   bool tolerated = false;
   //outside of configuring, we have no tolerance
-  if(life_cycle_info_.state == LifeCycleState::CONFIGURING)
+  if(life_cycle_mediator_.unconfigured(life_cycle_info_))
   {
     ros::Duration duration_since_configure = ros::Time::now() - configure_start_time_;
-    if (duration_since_configure <= ros::Duration(configure_tolerance_s) )
+    if (life_cycle_info_.state == LifeCycleState::UNCONFIGURED || duration_since_configure <= ros::Duration(configure_tolerance_s) )
     {
       tolerated = true;
     }