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Fixed reinitialize function #121

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merged 2 commits into from
Nov 20, 2024
Merged

Fixed reinitialize function #121

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ede1146
Fixed reinitialize function
iory Nov 19, 2024
9f0c989
After powering on, the ACK value becomes unstable for some reason, so…
iory Nov 20, 2024
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9 changes: 6 additions & 3 deletions rcb4/armh7interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -177,9 +177,12 @@ def open(self, port="/dev/ttyUSB1", baudrate=1000000, timeout=0.01):
except serial.SerialException as e:
print(f"Error opening serial port: {e}")
raise serial.SerialException(e)
ack = self.check_ack()
if ack is not True:
return False
# After powering on, the ACK value becomes unstable for some reason,
# so the process is repeated several times.
for _ in range(10):
ack = self.check_ack()
if ack is True:
break
self.check_firmware_version()
self.copy_worm_params_from_flash()
self.search_worm_ids()
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6 changes: 1 addition & 5 deletions ros/kxr_controller/node_scripts/rcb4_ros_bridge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1027,11 +1027,7 @@ def reinitialize_interface(self):
rospy.loginfo("Reinitialize interface.")
self.unsubscribe()
self.interface.close()
self.interface = self.setup_interface()
if self.read_current:
serial_call_with_retry(self.interface.switch_reading_servo_current, enable=True, max_retries=3)
if self.read_temperature:
serial_call_with_retry(self.interface.switch_reading_servo_temperature, enable=True, max_retries=3)
self.setup_interface_and_servo_parameters()
self.subscribe()
rospy.loginfo("Successfully reinitialized interface.")

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