yikestone/ros_arduino_bridge
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Added heart beat test for the serial connection which allows unplugging and plugging back in the serial line

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This commit is contained in:
Patrick Goebel 2016-04-02 18:53:20 -07:00
parent afad6f10d9
commit 4853533400
1 changed files with 14 additions and 0 deletions
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14
ros_arduino_python/nodes/arduino_node.py
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@ -214,6 +214,20 @@ class ArduinoROS():
# Start polling the sensors, base controller, and servo controller # Start polling the sensors, base controller, and servo controller
while not rospy.is_shutdown(): while not rospy.is_shutdown():
# Heartbeat test for the serial connection
try:
self.device.serial_port.inWaiting()
except IOError:
rospy.loginfo("Lost serial connection...")
self.device.close()
while True:
try:
self.device.open()
rospy.loginfo("Serial connection re-established.")
break
except:
r.sleep()
for sensor in self.mySensors: for sensor in self.mySensors:
if sensor.rate != 0: if sensor.rate != 0:
mutex.acquire() mutex.acquire()