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Updated execute() commands to use readline() instead of multiple read() calls

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This commit is contained in:
Patrick Goebel 2016-04-10 07:22:05 -07:00
parent e996d12280
commit e99871c6b3
1 changed files with 17 additions and 121 deletions
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138
ros_arduino_python/src/ros_arduino_python/arduino_driver.py
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@ -92,73 +92,14 @@ class Arduino:
'''
self.serial_port.write(cmd + '\r')
def recv(self, timeout=0.5):
''' This command should not be used on its own: it is called by the execute commands
below in a thread safe manner. Note: we use read() instead of readline() since
readline() tends to return garbage characters from the Arduino
'''
c = ''
value = ''
while c != '\r':
c = self.serial_port.read()
if c == '':
return None
value += c
value = value.strip('\r')
return value
def recv_ack(self):
''' This command should not be used on its own: it is called by the execute commands
below in a thread safe manner.
'''
ack = self.recv(self.timeout)
return ack == 'OK'
def recv_int(self):
''' This command should not be used on its own: it is called by the execute commands
below in a thread safe manner.
'''
value = self.recv(self.timeout)
try:
return int(value)
except:
return None
def recv_array(self):
''' This command should not be used on its own: it is called by the execute commands
below in a thread safe manner.
'''
return self.recv(self.timeout).split()
def execute(self, cmd, max_attempts=5):
''' Thread safe execution of "cmd" on the Arduino returning a single value.
'''
self.mutex.acquire()
self.serial_port.write(cmd + '\r')
self.serial_port.flushInput()
self.serial_port.flushOutput()
attempts = 0
try:
self.serial_port.write(cmd + '\r')
value = self.recv(self.timeout)
while attempts < max_attempts and (value == '' or value == 'Invalid Command' or value == None):
try:
self.serial_port.flushInput()
self.serial_port.flushOutput()
self.serial_port.write(cmd + '\r')
value = self.recv(self.timeout)
except:
print "Exception executing command: " + cmd
attempts += 1
except:
self.mutex.release()
print "Exception executing command: " + cmd
value = None
value = self.serial_port.readline().strip('\n')
self.mutex.release()
@ -167,65 +108,16 @@ class Arduino:
def execute_array(self, cmd, max_attempts=5):
''' Thread safe execution of "cmd" on the Arduino returning an array.
'''
self.mutex.acquire()
self.serial_port.flushInput()
self.serial_port.flushOutput()
attempts = 0
try:
self.serial_port.write(cmd + '\r')
values = self.recv_array()
while attempts < max_attempts and (values == '' or values == 'Invalid Command' or values == [] or values == None):
try:
self.serial_port.flushInput()
self.serial_port.flushOutput()
self.serial_port.write(cmd + '\r')
values = self.recv_array()
except:
print("Exception executing command: " + cmd)
attempts += 1
except:
self.mutex.release()
print "Exception executing command: " + cmd
raise SerialException
return []
self.mutex.release()
values = self.execute(cmd, max_attempts).split()
return values
def execute_ack(self, cmd, max_attempts=5):
''' Thread safe execution of "cmd" on the Arduino returning True if response is ACK.
'''
self.mutex.acquire()
ack = self.execute(cmd, max_attempts)
self.serial_port.flushInput()
self.serial_port.flushOutput()
attempts = 0
try:
self.serial_port.write(cmd + '\r')
ack = self.recv(self.timeout)
while attempts < max_attempts and (ack == '' or ack == 'Invalid Command' or ack == None):
try:
self.serial_port.flushInput()
self.serial_port.flushOutput()
self.serial_port.write(cmd + '\r')
ack = self.recv(self.timeout)
except:
print "Exception executing command: " + cmd
attempts += 1
except:
self.mutex.release()
print "execute_ack exception when executing", cmd
print sys.exc_info()
return 0
self.mutex.release()
return ack == 'OK'
return ack == 'OK'
def update_pid(self, Kp, Kd, Ki, Ko):
''' Set the PID parameters on the Arduino
@ -240,8 +132,7 @@ class Arduino:
try:
return int(self.execute('b', max_attempts=5))
except:
print "Failed to determine baud rate of Arduino so aborting!"
os._exit(1)
return None
def get_encoder_counts(self):
values = self.execute_array('e')
@ -270,7 +161,6 @@ class Arduino:
values = self.execute_array('i')
if len(values) != 12:
print "IMU data incomplete!"
raise SerialException
return None
else:
return map(float, values)
@ -300,13 +190,19 @@ class Arduino:
return self.execute_ack('c A%d %d' %(pin, mode))
def analog_read(self, pin):
return int(self.execute('a %d' %pin))
try:
return int(self.execute('a %d' %pin))
except:
return None
def analog_write(self, pin, value):
return self.execute_ack('x %d %d' %(pin, value))
def digital_read(self, pin):
return int(self.execute('d %d' %pin))
try:
return int(self.execute('d %d' %pin))
except:
return None
def digital_write(self, pin, value):
return self.execute_ack('w %d %d' %(pin, value))
@ -327,7 +223,7 @@ class Arduino:
def servo_read(self, id):
''' Usage: servo_read(id)
The returned position is in degrees
'''
'''
return int(self.execute('t %d' %id))
def set_servo_delay(self, id, delay):