The new serial number is compared with the previous one to avoid...

The new serial number is compared with the previous one to avoid reinitializing the same bus over and over.

src/dynamixelserver.cpp

@@ -252,22 +252,25 @@ void CDynamixelServer::set_bus_id(std::string &bus_id)
   }
   else
   {
-    if(this->comm_dev!=NULL)
+    if(this->bus_info.serial!=bus_id)
     {
-      this->comm_dev->close();
-      delete this->comm_dev;
-      this->comm_dev=NULL;
-    }
-    this->comm_dev=ftdi_server->get_device(bus_id);
-    if(this->comm_dev==NULL)
-    {
-      /* handle exception */
-      throw CDynamixelServerException(_HERE_,"No device found with the given serial number");
-    }
-    else
-    {
-      this->bus_info.bus_id=-1;
-      this->bus_info.serial=bus_id;
+      if(this->comm_dev!=NULL)
+      {
+        this->comm_dev->close();
+        delete this->comm_dev;
+        this->comm_dev=NULL;
+      }
+      this->comm_dev=ftdi_server->get_device(bus_id);
+      if(this->comm_dev==NULL)
+      {
+        /* handle exception */
+        throw CDynamixelServerException(_HERE_,"No device found with the given serial number");
+      }
+      else
+      {
+        this->bus_info.bus_id=-1;
+        this->bus_info.serial=bus_id;
+      }
     }
   }
 }