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Added max_attempts loop to execute() function

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This commit is contained in:
Patrick Goebel 2016-04-10 07:35:51 -07:00
parent e99871c6b3
commit 6234b9260a
1 changed files with 12 additions and 6 deletions
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18
ros_arduino_python/src/ros_arduino_python/arduino_driver.py
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@ -92,27 +92,34 @@ class Arduino:
'''
self.serial_port.write(cmd + '\r')
def execute(self, cmd, max_attempts=5):
def execute(self, cmd, max_attempts=3):
''' Thread safe execution of "cmd" on the Arduino returning a single value.
'''
self.mutex.acquire()
attempts = 1
self.serial_port.write(cmd + '\r')
value = self.serial_port.readline().strip('\n')
while len(value) == 0 and attempts < max_attempts:
self.serial_port.write(cmd + '\r')
value = self.serial_port.readline().strip('\n')
attempts += 1
self.mutex.release()
return value
def execute_array(self, cmd, max_attempts=5):
def execute_array(self, cmd, max_attempts=3):
''' Thread safe execution of "cmd" on the Arduino returning an array.
'''
values = self.execute(cmd, max_attempts).split()
return values
def execute_ack(self, cmd, max_attempts=5):
def execute_ack(self, cmd, max_attempts=3):
''' Thread safe execution of "cmd" on the Arduino returning True if response is ACK.
'''
ack = self.execute(cmd, max_attempts)
@ -136,9 +143,8 @@ class Arduino:
def get_encoder_counts(self):
values = self.execute_array('e')
if len(values) != 2:
print "Encoder count was not 2"
raise SerialException
return None
else:
return map(int, values)
@ -159,8 +165,8 @@ class Arduino:
from both gyroscope and compass data.
'''
values = self.execute_array('i')
if len(values) != 12:
print "IMU data incomplete!"
return None
else:
return map(float, values)