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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 07:05:17 -07:00
parent 6975ea2e74
commit 9a6229656b
1 changed files with 13 additions and 16 deletions
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29
ros_arduino_python/src/ros_arduino_python/arduino_driver.py
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@ -72,36 +72,33 @@ class Arduino:
while not self.serial_port.isOpen(): while not self.serial_port.isOpen():
time.sleep(self.timeout) time.sleep(self.timeout)
# Now open the port with the real settings # Now open the port with the real settings. An initial timeout of at least 1.0 seconds seems to work best
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=max(1.0, self.timeout))
# 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 = 0 attempts = 0
timeout = self.timeout timeout = self.timeout
# Wake up the serial port self.serial_port.write('\r')
self.serial_port.write('\r\r\r') time.sleep(timeout)
self.serial_port.read() test = self.serial_port.read()
# Keep trying for max_attempts # Wake up the serial port
while attempts < max_attempts: while attempts < max_attempts and test == '':
attempts += 1 attempts += 1
self.serial_port.write('\r\r\r') self.serial_port.write('\r')
time.sleep(timeout)
test = self.serial_port.read() test = self.serial_port.read()
if test != '':
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%
timeout *= 1.1
self.serial_port.timeout = timeout
self.serial_port.writeTimeout = timeout
if test == '': if test == '':
raise SerialException raise SerialException
# Reset the timeout to the user specified timeout
self.serial_port.setTimeout(self.timeout)
self.serial_port.setWriteTimeout(self.timeout)
# Test the connection by reading the baudrate # Test the connection by reading the baudrate
attempts = 0 attempts = 0
while self.get_baud() != self.baudrate and attempts < max_attempts: while self.get_baud() != self.baudrate and attempts < max_attempts: