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Added flushInput() and flushOutput() to execute() when timeout or error occurs

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This commit is contained in:
Patrick Goebel 2016-04-18 06:45:52 -07:00
parent 8dd8a19d8c
commit 0e04388b5d
1 changed files with 7 additions and 2 deletions
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9
ros_arduino_python/src/ros_arduino_python/arduino_driver.py
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@ -30,7 +30,7 @@ from serial.serialutil import SerialException
import serial
class Arduino:
def __init__(self, port="/dev/ttyUSB0", baudrate=57600, timeout=0.5):
def __init__(self, port="/dev/ttyUSB0", baudrate=57600, timeout=0.5, debug=True):
self.PID_RATE = 30 # Do not change this! It is a fixed property of the Arduino PID controller.
self.PID_INTERVAL = 1000 / 30
@ -40,6 +40,7 @@ class Arduino:
self.timeout = timeout
self.encoder_count = 0
self.writeTimeout = timeout
self.debug = debug
# Keep things thread safe
self.mutex = thread.allocate_lock()
@ -103,7 +104,11 @@ class Arduino:
value = self.serial_port.readline().strip('\n')
while len(value) == 0 and attempts < max_attempts:
print "Command", cmd, "failed", attempts, "time(s)"
if self.debug:
print "Command", cmd, "failed", attempts, "time(s)"
self.serial_port.flushInput()
self.serial_port.flushOutput()
self.serial_port.write(cmd + '\r')
value = self.serial_port.readline().strip('\n')
attempts += 1