From 98b8a2f2fac5df13a39d0ac6847539f7fbfebe8f Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 7 May 2021 16:16:37 +0200
Subject: [PATCH] The communication device is closed and deleted (if necessary)
when the config_bus function is called.
---
src/dynamixelserver_serial.cpp | 13 ++++++++++++-
1 file changed, 12 insertions(+), 1 deletion(-)
diff --git a/src/dynamixelserver_serial.cpp b/src/dynamixelserver_serial.cpp
index d0199df..03d0676 100644
--- a/src/dynamixelserver_serial.cpp
+++ b/src/dynamixelserver_serial.cpp
@@ -41,8 +41,12 @@ void CDynamixelServerSerial::config_bus(const std::string &device, int baudrate)
{
TRS232_config serial_config;
- if(this->comm_dev==NULL)
+ if(this->comm_dev!=NULL)
{
+ delete this->comm_dev;
+ this->comm_dev=NULL;
+ }
+ try{
serial_config.baud=baudrate;
serial_config.num_bits=8;
serial_config.parity=none;
@@ -52,6 +56,13 @@ void CDynamixelServerSerial::config_bus(const std::string &device, int baudrate)
this->comm_dev->config(&serial_config);
this->bus_info.baud_rate=baudrate;
this->bus_info.device=device;
+ }catch(CException &e){
+ if(this->comm_dev!=NULL)
+ {
+ delete this->comm_dev;
+ this->comm_dev=NULL;
+ }
+ throw e;
}
}
--
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