Don't start heartbeats while the heartbeat ack timeout is expired

If the application attempts to do this, the heartbeat will not be
started until after the next heartbeat ack is received.

Author: NoahAndrews

src/canWrapper.cc

@@ -719,9 +719,13 @@ void startRevCommonHeartbeat(const Napi::CallbackInfo& info) {
     }
 
     std::array<uint8_t, 1> payload = {1};
-    _sendCANMessage(descriptor, REV_COMMON_HEARTBEAT_ID, payload.data(), 1, HEARTBEAT_PERIOD_MS);
 
     std::scoped_lock lock{watchdogMtx};
+
+    if (!heartbeatTimeoutExpired) {
+        _sendCANMessage(descriptor, REV_COMMON_HEARTBEAT_ID, payload.data(), 1, HEARTBEAT_PERIOD_MS);
+    }
+
     revCommonHeartbeatMap[descriptor] = payload;
 
     if (heartbeatsRunning.size() == 0) {
@@ -753,18 +757,21 @@ void setSparkMaxHeartbeatData(const Napi::CallbackInfo& info) {
         if (deviceIterator == canDeviceMap.end()) return;
     }
 
-    // Clear the scheduled heartbeat that has outdated data so that the updated one gets sent out immediately
-    _sendCANMessage(descriptor, SPARK_HEARTBEAT_ID, heartbeat.data(), 8, -1);
-
     int sum = 0;
     for (uint32_t i = 0; i < dataParam.Length(); i++) {
         heartbeat[i] = dataParam.Get(i).As<Napi::Number>().Uint32Value();
         sum+= heartbeat[i];
     }
 
-    _sendCANMessage(descriptor, SPARK_HEARTBEAT_ID, heartbeat.data(), 8, HEARTBEAT_PERIOD_MS);
-
     std::scoped_lock lock{watchdogMtx};
+
+    if (!heartbeatTimeoutExpired) {
+        // Clear the scheduled heartbeat that has outdated data so that the updated one gets sent out immediately
+        _sendCANMessage(descriptor, SPARK_HEARTBEAT_ID, heartbeat.data(), 8, -1);
+
+        _sendCANMessage(descriptor, SPARK_HEARTBEAT_ID, heartbeat.data(), 8, HEARTBEAT_PERIOD_MS);
+    }
+
     sparkHeartbeatMap[descriptor] = heartbeat;
 
     if (heartbeatsRunning.size() == 0) {