yikestone/ros_arduino_bridge
1
0
Fork 0
mirror of https://github.com/YikeStone/ros_arduino_bridge.git synced 2025-08-05 20:14:07 +05:30
Code Issues Projects Releases Wiki Activity

Added max_attempts loop to execute() function

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
ros_arduino_python/src/ros_arduino_python/arduino_driver.py
View File

@ -92,27 +92,34 @@ class Arduino:
''' '''
self.serial_port.write(cmd + '\r') 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. ''' Thread safe execution of "cmd" on the Arduino returning a single value.
''' '''
self.mutex.acquire() self.mutex.acquire()
attempts = 1
self.serial_port.write(cmd + '\r') self.serial_port.write(cmd + '\r')
value = self.serial_port.readline().strip('\n') 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() self.mutex.release()
return value 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. ''' Thread safe execution of "cmd" on the Arduino returning an array.
''' '''
values = self.execute(cmd, max_attempts).split() values = self.execute(cmd, max_attempts).split()
return values 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. ''' Thread safe execution of "cmd" on the Arduino returning True if response is ACK.
''' '''
ack = self.execute(cmd, max_attempts) ack = self.execute(cmd, max_attempts)
@ -136,9 +143,8 @@ class Arduino:
def get_encoder_counts(self): def get_encoder_counts(self):
values = self.execute_array('e') values = self.execute_array('e')
if len(values) != 2: if len(values) != 2:
print "Encoder count was not 2"
raise SerialException
return None return None
else: else:
return map(int, values) return map(int, values)
@ -159,8 +165,8 @@ class Arduino:
from both gyroscope and compass data. from both gyroscope and compass data.
''' '''
values = self.execute_array('i') values = self.execute_array('i')
if len(values) != 12: if len(values) != 12:
print "IMU data incomplete!"
return None return None
else: else:
return map(float, values) return map(float, values)