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Commit 6b2ff973 authored by smartinezs's avatar smartinezs
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updating timeouts, solving 0 value bug

parent 79ea840f
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1 merge request!2Used the specific new data event for the rx can ID.
......@@ -122,7 +122,7 @@ unsigned char CDynamixelCAN::receive_status_packet_v1(unsigned char **data,unsig
do{
if((num=((CCAN *)this->comm_dev)->get_num_bytes(this->rx_frame_id))==0)
{
this->event_server->wait_all(events,100);
this->event_server->wait_all(events,500);
num=((CCAN *)this->comm_dev)->get_num_bytes(rx_frame_id);
}
if((read+num)>1024)
......@@ -132,7 +132,8 @@ unsigned char CDynamixelCAN::receive_status_packet_v1(unsigned char **data,unsig
}
else
{
((CCAN *)this->comm_dev)->read(rx_frame_id,&data_int[read],num);
if(num != 0)
((CCAN *)this->comm_dev)->read(rx_frame_id,&data_int[read],num);
read+=num;
}
this->sync_packet_v1(data_int,read,&start);
......@@ -143,7 +144,7 @@ unsigned char CDynamixelCAN::receive_status_packet_v1(unsigned char **data,unsig
{
if((num=((CCAN *)this->comm_dev)->get_num_bytes(this->rx_frame_id))==0)
{
this->event_server->wait_all(events,100);
this->event_server->wait_all(events,500);
num=((CCAN *)this->comm_dev)->get_num_bytes(this->rx_frame_id);
}
if((read-start+num)>length)
......
......@@ -160,7 +160,7 @@ unsigned char CDynamixelServerCAN::receive_status_packet_v1(unsigned char **data
do{
if((num=((CCAN *)this->comm_dev)->get_num_bytes(this->bus_info.rx_frame_id))==0)
{
this->event_server->wait_all(events,20);
this->event_server->wait_all(events,200);
num=((CCAN *)this->comm_dev)->get_num_bytes(this->bus_info.rx_frame_id);
}
if((read+num)>1024)
......@@ -181,7 +181,7 @@ unsigned char CDynamixelServerCAN::receive_status_packet_v1(unsigned char **data
{
if((num=((CCAN *)this->comm_dev)->get_num_bytes(this->bus_info.rx_frame_id))==0)
{
this->event_server->wait_all(events,20);
this->event_server->wait_all(events,200);
num=((CCAN *)this->comm_dev)->get_num_bytes(this->bus_info.rx_frame_id);
}
if((read-start+num)>length)
......@@ -243,7 +243,7 @@ unsigned char CDynamixelServerCAN::receive_status_packet_v2(unsigned char **data
do{
if((num=((CCAN *)this->comm_dev)->get_num_bytes(this->bus_info.rx_frame_id))==0)
{
this->event_server->wait_all(events,20);
this->event_server->wait_all(events,200);
num=((CCAN *)this->comm_dev)->get_num_bytes(this->bus_info.rx_frame_id);
}
if((read+num)>1024)
......@@ -264,7 +264,7 @@ unsigned char CDynamixelServerCAN::receive_status_packet_v2(unsigned char **data
{
if((num=((CCAN *)this->comm_dev)->get_num_bytes(this->bus_info.rx_frame_id))==0)
{
this->event_server->wait_all(events,20);
this->event_server->wait_all(events,200);
num=((CCAN *)this->comm_dev)->get_num_bytes(this->bus_info.rx_frame_id);
}
if((read-start+num)>length)
......
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