don't kill serial when polling too quickly

Stephen Birarda committed 13 years ago

Commit 9774dd51 parent fd73b8d2 files · +14 −15Browse files

Showing the changes to interface/src/SerialInterface.cpp (1 of 2 files). Show all

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 int serial_buffer_pos = 0;
 const int ZERO_OFFSET = 2048;
-const short NO_READ_MAXIMUM = 10;
+const short NO_READ_MAXIMUM_MSECS = 3000;
 const short SAMPLES_TO_DISCARD = 100;
 void SerialInterface::pair() {
     int initialSamples = totalSamples;
-    while (read(serial_fd, &bufchar, 1) > 0)
+    while (read(serial_fd, &bufchar, 1) > 0) {
-    {
         //std::cout << bufchar[0];
         serial_buffer[serial_buffer_pos] = bufchar[0];
         serial_buffer_pos++;
         //  Have we reached end of a line of input?
-        if ((bufchar[0] == '\n') || (serial_buffer_pos >= MAX_BUFFER))
+        if ((bufchar[0] == '\n') || (serial_buffer_pos >= MAX_BUFFER)) {
-        {
             std::string serialLine(serial_buffer, serial_buffer_pos-1);
             //std::cout << serialLine << "\n";
             int spot;
         }
     }
     if (initialSamples == totalSamples) {
-        noReadCount++;
+        timeval now;
-        std::cout << "#" << noReadCount << " blank read from serial.\n";
+        gettimeofday(&now, NULL);
-        if (noReadCount >= NO_READ_MAXIMUM) {
+        if (diffclock(&lastGoodRead, &now) > NO_READ_MAXIMUM_MSECS) {
+            std::cout << "No data coming over serial. Shutting down SerialInterface.\n";
             resetSerial();
         }
+    } else {
+        gettimeofday(&lastGoodRead, NULL);
     }
 }
 void SerialInterface::resetSerial() {
-    std::cout << "Reached maximum blank read count. Shutting down serial.\n";
     active = false;
-    noReadCount = 0;
     totalSamples = 0;
+    gettimeofday(&lastGoodRead, NULL);
     //  Clear the measured and average channel data
-    for (int i = 0; i < NUM_CHANNELS; i++)
+    for (int i = 0; i < NUM_CHANNELS; i++) {
-    {
         lastMeasured[i] = 0;
         trailingAverage[i] = 0.0;
     }