BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- added first bulk read failure protection code

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ROBOTIS
2016-03-09 17:54:35 +09:00
parent a0f412e4dd
commit 4e319441dd
1 changed files with 13 additions and 2 deletions
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15
robotis_controller/src/robotis_controller/RobotisController.cpp
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@@ -52,9 +52,20 @@ void RobotisController::InitSyncWrite()
// bulkread twice
for(std::map<std::string, GroupBulkRead *>::iterator _it = port_to_bulk_read.begin(); _it != port_to_bulk_read.end(); _it++)
_it->second->TxRxPacket();
usleep(50*1000);
for(std::map<std::string, GroupBulkRead *>::iterator _it = port_to_bulk_read.begin(); _it != port_to_bulk_read.end(); _it++)
_it->second->TxRxPacket();
{
int _error_cnt = 0;
int _result = COMM_SUCCESS;
do {
if(++_error_cnt > 10)
{
ROS_ERROR("[RobotisController] bulk read fail!!");
exit(-1);
}
usleep(10*1000);
_result = _it->second->TxRxPacket();
} while (_result != COMM_SUCCESS);
}
ROS_INFO("FIRST BULKREAD END");
// clear syncwrite param setting