Smoother serial #124
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Smoother serial #124
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superjax
reviewed
May 12, 2020
| @@ -1,7 +1,7 @@ | |||
| cmake_minimum_required(VERSION 2.8.3) | |||
| project(rosflight) | |||
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| set(CMAKE_BUILD_TYPE Release) | |||
| set(CMAKE_BUILD_TYPE Debug) | |||
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could you just remove this line?
| @@ -84,25 +85,67 @@ rosflightIO::rosflightIO() | |||
| std::string port = nh_private.param<std::string>("port", "/dev/ttyACM0"); | |||
| int baud_rate = nh_private.param<int>("baud_rate", 921600); | |||
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| wait_for_serial_ = nh_private.param<bool>("wait_for_serial", false); | |||
| serial_retry_delay_s_ = nh_private.param<float>("serial_check_period", 1.0); | |||
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This seems long. (I assume that this is designed for hardfault recovery.) How small can we make this?
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This is something that we've actually talked about improving, funny that work on it already exists. We should definitely finish this up. |
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Improves performance with serial connections:
~wait_for_serialand~serial_check_period. If~wait_for_serialis set to true, and the serial port is not available when the node comes up, it will wait~serial_check_periodseconds and then try again, until the node is killed or connects.