From 544638d764e12a273fefe9f8cae8bcfdcb2c896f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Mon, 8 Jul 2013 08:20:33 +0000
Subject: [PATCH] Solved a bug in the get_device() function. The function get
blocked when no device was found with the desired id.
---
src/dynamixelserver.cpp | 62 +++++++++++++++++++++--------------------
1 file changed, 32 insertions(+), 30 deletions(-)
diff --git a/src/dynamixelserver.cpp b/src/dynamixelserver.cpp
index c34965e..dfea759 100644
--- a/src/dynamixelserver.cpp
+++ b/src/dynamixelserver.cpp
@@ -390,42 +390,44 @@ CDynamixel *CDynamixelServer::get_device(int dev_id)
if(dynamixel==NULL)
{
// try to ping the desired device
- try{
- if(this->bus_info.baud_rate==-1)
- {
+ if(this->bus_info.baud_rate==-1)
+ {
+ /* handle exceptions */
+ throw CDynamixelServerException(_HERE_,"No baudrate has been selected.");
+ }
+ else
+ {
+ try{
+ this->ping(dev_id,500);
+// }catch(CEventTimeoutException &e){
+ }catch(...){
/* handle exceptions */
- throw CDynamixelServerException(_HERE_,"No baudrate has been selected.");
+ throw CDynamixelServerException(_HERE_,"No Dynamixel device found with the specified identifier");
}
- else
+ this->dynamixel_access.enter();
+ device_name.str("");
+ device_name << "dynamixel_bus_" << this->bus_info.bus_id << "_dev_" << dev_id;
+ name=device_name.str();
+ dynamixel=new CDynamixel(name);
+ dynamixel->usb_dev=this->comm_dev;
+ dynamixel->usb_access=&this->dynamixel_access;
+ dynamixel->node_address=dev_id;
+ dynamixel->usb_rx_event_id=this->comm_dev->get_rx_event_id();
+ for(i=0;i<devices.size();i++)
{
- this->ping(dev_id,500);
- this->dynamixel_access.enter();
- device_name.str("");
- device_name << "dynamixel_bus_" << this->bus_info.bus_id << "_dev_" << dev_id;
- name=device_name.str();
- dynamixel=new CDynamixel(name);
- dynamixel->usb_dev=this->comm_dev;
- dynamixel->usb_access=&this->dynamixel_access;
- dynamixel->node_address=dev_id;
- dynamixel->usb_rx_event_id=this->comm_dev->get_rx_event_id();
- for(i=0;i<devices.size();i++)
- if(this->devices[i].id==dev_id)
- {
- this->devices[i].used=true;
- updated=true;
- }
- if(!updated)
+ if(this->devices[i].id==dev_id)
{
- device.id=dev_id;
- device.used=true;
- this->devices.push_back(device);
+ this->devices[i].used=true;
+ updated=true;
}
- this->dynamixel_access.exit();
}
- }catch(CEventTimeoutException &e){
+ if(!updated)
+ {
+ device.id=dev_id;
+ device.used=true;
+ this->devices.push_back(device);
+ }
this->dynamixel_access.exit();
- /* handle exceptions */
- throw CDynamixelServerException(_HERE_,"No Dynamixel device found with the specified identifier");
}
}
@@ -570,7 +572,7 @@ void CDynamixelServer::ping(int dev_id,int time)
}while(read<6);
}catch(CEventTimeoutException &e){
this->dynamixel_access.exit();
- throw;
+ throw e;
}
}
this->dynamixel_access.exit();
--
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