yikestone/ros_arduino_bridge
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Added fix to arduino_driver.py so that serial port now opens consistently.

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This commit is contained in:
Patrick Goebel 2015-12-18 14:42:59 -08:00
parent 6a8f9413b9
commit 896e60d417
1 changed files with 30 additions and 21 deletions
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51
ros_arduino_python/src/ros_arduino_python/arduino_driver.py
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@ -27,7 +27,7 @@ import os
import time import time
import sys, traceback import sys, traceback
from serial.serialutil import SerialException from serial.serialutil import SerialException
from serial import Serial import serial
class Arduino: class Arduino:
''' Configuration Parameters ''' Configuration Parameters
@ -59,12 +59,21 @@ class Arduino:
def connect(self): def connect(self):
try: try:
print "Connecting to Arduino on port", self.port, "..." print "Connecting to Arduino on port", self.port, "..."
self.port = Serial(port=self.port, baudrate=self.baudrate, timeout=self.timeout, writeTimeout=self.writeTimeout)
# The next line is necessary to give the firmware time to wake up. # The port has to be open once with the default baud rate before opening again for real
time.sleep(1) self.serial_port = serial.Serial(port=self.port)
# Needed for Leonardo only
while not self.port:
time.sleep(0.5)
# 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)
# Test the connection by reading the baudrate
test = self.get_baud() test = self.get_baud()
if test != self.baudrate: if test != self.baudrate:
time.sleep(1) time.sleep(0.5)
test = self.get_baud() test = self.get_baud()
if test != self.baudrate: if test != self.baudrate:
raise SerialException raise SerialException
@ -82,18 +91,18 @@ class Arduino:
def open(self): def open(self):
''' Open the serial port. ''' Open the serial port.
''' '''
self.port.open() self.serial_port.open()
def close(self): def close(self):
''' Close the serial port. ''' Close the serial port.
''' '''
self.port.close() self.serial_port.close()
def send(self, cmd): def send(self, cmd):
''' This command should not be used on its own: it is called by the execute commands ''' This command should not be used on its own: it is called by the execute commands
below in a thread safe manner. below in a thread safe manner.
''' '''
self.port.write(cmd + '\r') self.serial_port.write(cmd + '\r')
def recv(self, timeout=0.5): def recv(self, timeout=0.5):
timeout = min(timeout, self.timeout) timeout = min(timeout, self.timeout)
@ -105,7 +114,7 @@ class Arduino:
value = '' value = ''
attempts = 0 attempts = 0
while c != '\r': while c != '\r':
c = self.port.read(1) c = self.serial_port.read(1)
value += c value += c
attempts += 1 attempts += 1
if attempts * self.interCharTimeout > timeout: if attempts * self.interCharTimeout > timeout:
@ -148,7 +157,7 @@ class Arduino:
self.mutex.acquire() self.mutex.acquire()
try: try:
self.port.flushInput() self.serial_port.flushInput()
except: except:
pass pass
@ -156,12 +165,12 @@ class Arduino:
attempts = 0 attempts = 0
try: try:
self.port.write(cmd + '\r') self.serial_port.write(cmd + '\r')
value = self.recv(self.timeout) value = self.recv(self.timeout)
while attempts < ntries and (value == '' or value == 'Invalid Command' or value == None): while attempts < ntries and (value == '' or value == 'Invalid Command' or value == None):
try: try:
self.port.flushInput() self.serial_port.flushInput()
self.port.write(cmd + '\r') self.serial_port.write(cmd + '\r')
value = self.recv(self.timeout) value = self.recv(self.timeout)
except: except:
print "Exception executing command: " + cmd print "Exception executing command: " + cmd
@ -180,7 +189,7 @@ class Arduino:
self.mutex.acquire() self.mutex.acquire()
try: try:
self.port.flushInput() self.serial_port.flushInput()
except: except:
pass pass
@ -188,12 +197,12 @@ class Arduino:
attempts = 0 attempts = 0
try: try:
self.port.write(cmd + '\r') self.serial_port.write(cmd + '\r')
values = self.recv_array() values = self.recv_array()
while attempts < ntries and (values == '' or values == 'Invalid Command' or values == [] or values == None): while attempts < ntries and (values == '' or values == 'Invalid Command' or values == [] or values == None):
try: try:
self.port.flushInput() self.serial_port.flushInput()
self.port.write(cmd + '\r') self.serial_port.write(cmd + '\r')
values = self.recv_array() values = self.recv_array()
except: except:
print("Exception executing command: " + cmd) print("Exception executing command: " + cmd)
@ -218,7 +227,7 @@ class Arduino:
self.mutex.acquire() self.mutex.acquire()
try: try:
self.port.flushInput() self.serial_port.flushInput()
except: except:
pass pass
@ -226,12 +235,12 @@ class Arduino:
attempts = 0 attempts = 0
try: try:
self.port.write(cmd + '\r') self.serial_port.write(cmd + '\r')
ack = self.recv(self.timeout) ack = self.recv(self.timeout)
while attempts < ntries and (ack == '' or ack == 'Invalid Command' or ack == None): while attempts < ntries and (ack == '' or ack == 'Invalid Command' or ack == None):
try: try:
self.port.flushInput() self.serial_port.flushInput()
self.port.write(cmd + '\r') self.serial_port.write(cmd + '\r')
ack = self.recv(self.timeout) ack = self.recv(self.timeout)
except: except:
print "Exception executing command: " + cmd print "Exception executing command: " + cmd