Fix i2c issues found (param and division by zero) (#56)

flynneva · Jan 15, 2023 · 16d2430 · 16d2430
1 parent f04b088
commit 16d2430
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/bno055/bno055.py b/bno055/bno055.py
@@ -112,6 +112,9 @@ def read_data():
             except BusOverRunException:
                 # data not available yet, wait for next cycle | see #5
                 return
+            except ZeroDivisionError:
+                # division by zero in get_sensor_data, return
+                return
             except Exception as e:  # noqa: B902
                 node.get_logger().warn('Receiving sensor data failed with %s:"%s"'
                                        % (type(e).__name__, e))

diff --git a/bno055/params/NodeParameters.py b/bno055/params/NodeParameters.py
@@ -109,15 +109,15 @@ def __init__(self, node: Node):
             self.connection_type = node.get_parameter('connection_type')
             node.get_logger().info('\tconnection_type:\t"%s"' % self.connection_type.value)
 
-            if self.connection_type == I2C.CONNECTIONTYPE_I2C:
+            if self.connection_type.value == I2C.CONNECTIONTYPE_I2C:
 
                 self.i2c_bus = node.get_parameter('i2c_bus')
                 node.get_logger().info('\ti2c_bus:\t\t"%s"' % self.i2c_bus.value)
 
                 self.i2c_addr = node.get_parameter('i2c_addr')
                 node.get_logger().info('\ti2c_addr:\t\t"%s"' % self.i2c_addr.value)
 
-            elif self.connection_type == UART.CONNECTIONTYPE_UART:
+            elif self.connection_type.value == UART.CONNECTIONTYPE_UART:
 
                 self.uart_port = node.get_parameter('uart_port')
                 node.get_logger().info('\tuart_port:\t\t"%s"' % self.uart_port.value)