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Improved initial connection loop in arduino_driver.py

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This commit is contained in:
Patrick Goebel 2016-06-26 18:43:21 -07:00
parent c8fe760785
commit 82b2bbb546
1 changed files with 22 additions and 6 deletions
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28
ros_arduino_python/src/ros_arduino_python/arduino_driver.py
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@ -77,15 +77,31 @@ class Arduino:
# When an Arduino is first plugged in, it can take time for the serial port to wake up
max_attempts = 10
attempts = 0
attempts = 1
timeout = self.timeout
# Wake up the serial port
self.serial_port.write('\r')
while attempts < max_attempts and self.serial_port.read() == '':
rospy.loginfo("Waking up serial port...")
while attempts < max_attempts:
self.serial_port.write('\r')
time.sleep(timeout)
test = self.serial_port.read()
if test != '':
break
rospy.loginfo("Waking up serial port attempt " + str(attempts) + " of " + str(max_attempts))
# Increase timeout by 10%
timeout *= 1.1
self.serial_port.timeout = timeout
self.serial_port.writeTimeout = timeout
self.serial_port.flushInput()
self.serial_port.flushOutput()
attempts += 1
time.sleep(1)
if test == '':
raise SerialException
if timeout != self.timeout:
rospy.loginfo("Found best timeout to be " + str(timeout) + " seconds")
# Test the connection by reading the baudrate
attepmpts = 0
@ -97,7 +113,7 @@ class Arduino:
try:
self.serial_port.inWaiting()
rospy.loginfo("Connected at " + str(self.baudrate))
rospy.loginfo("Arduino is ready.")
rospy.loginfo("Arduino is ready!")
except IOError:
raise SerialException