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Add serial write read lock #11

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merged 2 commits into from
Jan 8, 2024
Merged

Add serial write read lock #11

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0b3399e
Add serial write read lock
iory Jan 8, 2024
0f305dd
Fixed GA for Apple silicon Mac
iory Jan 8, 2024
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2 changes: 1 addition & 1 deletion .github/workflows/test.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ jobs:
strategy:
matrix:
os: [self-hosted]
python-version: [3.7, 3.11]
python-version: [3.8, 3.11]
steps:
- uses: actions/checkout@v3
- name: Set up Python for Self-Hosted Linux arm64
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14 changes: 9 additions & 5 deletions rcb4/armh7interface.py
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Expand Up @@ -2,6 +2,7 @@
import platform
import select
import struct
from threading import Lock
import time

from colorama import Fore
Expand Down Expand Up @@ -111,6 +112,7 @@ def padding_bytearray(ba, n):
class ARMH7Interface(object):

def __init__(self):
self.lock = Lock()
self.serial = None
self.id_vector = None
self.servo_sorted_ids = None
Expand Down Expand Up @@ -179,11 +181,13 @@ def serial_write(self, byte_list):
raise RuntimeError('Serial is not opened.')

data_to_send = bytes(byte_list)
try:
self.serial.write(data_to_send)
except serial.SerialException as e:
print(f"Error sending data: {e}")
return self.serial_read()
with self.lock:
try:
self.serial.write(data_to_send)
except serial.SerialException as e:
print(f"Error sending data: {e}")
ret = self.serial_read()
return ret

def serial_read(self, timeout=10):
if self.serial is None:
Expand Down