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Improved initial connection loop in arduino_driver.py

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This commit is contained in:
Patrick Goebel 2016-06-27 05:50:38 -07:00
parent 82b2bbb546
commit 6975ea2e74
1 changed files with 12 additions and 12 deletions
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24
ros_arduino_python/src/ros_arduino_python/arduino_driver.py
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@ -75,41 +75,41 @@ class Arduino:
# Now open the port with the real settings # Now open the port with the real settings
self.serial_port = serial.Serial(port=self.port, baudrate=self.baudrate, timeout=self.timeout, writeTimeout=self.writeTimeout) self.serial_port = serial.Serial(port=self.port, baudrate=self.baudrate, timeout=self.timeout, writeTimeout=self.writeTimeout)
# When an Arduino is first plugged in, it can take time for the serial port to wake up # It can take time for the serial port to wake up
max_attempts = 10 max_attempts = 10
attempts = 1 attempts = 0
timeout = self.timeout timeout = self.timeout
# Wake up the serial port # Wake up the serial port
self.serial_port.write('\r\r\r')
self.serial_port.read()
# Keep trying for max_attempts
while attempts < max_attempts: while attempts < max_attempts:
self.serial_port.write('\r') attempts += 1
time.sleep(timeout) self.serial_port.write('\r\r\r')
test = self.serial_port.read() test = self.serial_port.read()
if test != '': if test != '':
break break
rospy.loginfo("Waking up serial port attempt " + str(attempts) + " of " + str(max_attempts)) rospy.loginfo("Waking up serial port attempt " + str(attempts) + " of " + str(max_attempts))
# Increase timeout by 10%
# Increase timeout by 10%
timeout *= 1.1 timeout *= 1.1
self.serial_port.timeout = timeout self.serial_port.timeout = timeout
self.serial_port.writeTimeout = timeout self.serial_port.writeTimeout = timeout
self.serial_port.flushInput()
self.serial_port.flushOutput()
attempts += 1
if test == '': if test == '':
raise SerialException raise SerialException
if timeout != self.timeout:
rospy.loginfo("Found best timeout to be " + str(timeout) + " seconds")
# Test the connection by reading the baudrate # Test the connection by reading the baudrate
attepmpts = 0 attempts = 0
while self.get_baud() != self.baudrate and attempts < max_attempts: while self.get_baud() != self.baudrate and attempts < max_attempts:
attempts += 1 attempts += 1
self.serial_port.flushInput() self.serial_port.flushInput()
self.serial_port.flushOutput() self.serial_port.flushOutput()
rospy.loginfo("Connecting...") rospy.loginfo("Connecting...")
time.sleep(timeout)
try: try:
self.serial_port.inWaiting() self.serial_port.inWaiting()
rospy.loginfo("Connected at " + str(self.baudrate)) rospy.loginfo("Connected at " + str(self.baudrate))