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Fix --no-yp-protocol mode #128

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merged 1 commit into from
Mar 18, 2020
Merged

Fix --no-yp-protocol mode #128

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9 changes: 6 additions & 3 deletions src/serial.c
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Original file line number Diff line number Diff line change
Expand Up @@ -288,9 +288,12 @@ int serial_change_baudrate(int baud)
}
} // <--- check bit rate

ret = write(g_device_port, "\n\nVV\n\n", 6);
yp_usleep(10000);
serial_recieve(recieve_throw, buf);
if (!(option(OPTION_DO_NOT_USE_YP)))
{
ret = write(g_device_port, "\n\nVV\n\n", 6);
yp_usleep(10000);
serial_recieve(recieve_throw, buf);
}
#else
// Windows用
DCB dcb;
Expand Down
132 changes: 74 additions & 58 deletions src/ypspur-coordinator.c
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Original file line number Diff line number Diff line change
Expand Up @@ -304,30 +304,35 @@ int main(int argc, char *argv[])
}
yprintf(OUTPUT_LV_WARNING, "++++++++++++++++++++++++++++++++++++++++++++++++++\n");
}
}
fflush(stderr);

if (get_parameter(&driver_param) == -1)
{
continue;
}
yprintf(OUTPUT_LV_DEBUG, "Driver depending parameters\n");
yprintf(OUTPUT_LV_DEBUG, " Name : %s\n", driver_param.robot_name);
yprintf(OUTPUT_LV_DEBUG, " PWM resolution: %s\n", driver_param.pwm_resolution);
yprintf(OUTPUT_LV_DEBUG, " Motor number : %s\n", driver_param.motor_num);
yprintf(OUTPUT_LV_DEBUG, "++++++++++++++++++++++++++++++++++++++++++++++++++\n");

if (strlen(driver_param.pwm_resolution) <= 0 ||
strlen(driver_param.motor_num) <= 0)
{
yprintf(OUTPUT_LV_ERROR, "Error: Failed to load driver parameters.\n");
if (option(OPTION_RECONNECT))
if (get_parameter(&driver_param) == -1)
{
yp_usleep(500000);
continue;
}
break;
yprintf(OUTPUT_LV_DEBUG, "Driver depending parameters\n");
yprintf(OUTPUT_LV_DEBUG, " Name : %s\n", driver_param.robot_name);
yprintf(OUTPUT_LV_DEBUG, " PWM resolution: %s\n", driver_param.pwm_resolution);
yprintf(OUTPUT_LV_DEBUG, " Motor number : %s\n", driver_param.motor_num);
yprintf(OUTPUT_LV_DEBUG, "++++++++++++++++++++++++++++++++++++++++++++++++++\n");

if (strlen(driver_param.pwm_resolution) <= 0 ||
strlen(driver_param.motor_num) <= 0)
{
yprintf(OUTPUT_LV_ERROR, "Error: Failed to load driver parameters.\n");
if (option(OPTION_RECONNECT))
{
yp_usleep(500000);
continue;
}
break;
}
}
else
{
driver_param.robot_name[0] = 0;
driver_param.pwm_resolution[0] = 0;
strcpy(driver_param.motor_num, "2");
}
fflush(stderr);
}
else
{
Expand Down Expand Up @@ -392,55 +397,66 @@ int main(int argc, char *argv[])
}
}
{
int i;
for (i = 0; i < YP_PARAM_MAX_MOTOR_NUM; i++)
if (strlen(driver_param.pwm_resolution) > 0)
{
int i;
for (i = 0; i < YP_PARAM_MAX_MOTOR_NUM; i++)
{
*pp(YP_PARAM_PWM_MAX, i) = atoi(driver_param.pwm_resolution);
}
}
else if (p(YP_PARAM_PWM_MAX, 0) == 0)
{
*pp(YP_PARAM_PWM_MAX, i) = atoi(driver_param.pwm_resolution);
yprintf(OUTPUT_LV_ERROR, "Error: _PWM_RESOLUTION parameter must be given on --no-yp-protocol mode.\n");
break;
}
}
yprintf(OUTPUT_LV_DEBUG, "++++++++++++++++++++++++++++++++++++++++++++++++++\n\n");

if (!(option(OPTION_WITHOUT_DEVICE)))
{
// ボーレートの設定
if (param->speed)
{
yprintf(OUTPUT_LV_INFO, "Setting baudrate to %d baud.\n", param->speed);
}
else
if (!(option(OPTION_DO_NOT_USE_YP)))
{
// 指定されてない場合デフォルトの値
param->speed = DEFAULT_BAUDRATE;
}
// ボーレートの設定
if (param->speed)
{
yprintf(OUTPUT_LV_INFO, "Setting baudrate to %d baud.\n", param->speed);
}
else
{
// 指定されてない場合デフォルトの値
param->speed = DEFAULT_BAUDRATE;
}

ret = set_baudrate(param->speed);
if (ret == 0)
{
// 設定失敗
yprintf(OUTPUT_LV_WARNING, "Error: Failed to change baudrate.\n");
break; // quit=0でbreakしたら異常終了と判断
}
if (ret == 4)
{
// ボーレートの設定未対応
yprintf(OUTPUT_LV_INFO, "Info: Baudrate setting is not supported on this device.\n");
}
else
{
// 設定成功
// 正常ならば何もしない
}
ret = set_baudrate(param->speed);
if (ret == 0)
{
// 設定失敗
yprintf(OUTPUT_LV_WARNING, "Error: Failed to change baudrate.\n");
break; // quit=0でbreakしたら異常終了と判断
}
if (ret == 4)
{
// ボーレートの設定未対応
yprintf(OUTPUT_LV_INFO, "Info: Baudrate setting is not supported on this device.\n");
}
else
{
// 設定成功
// 正常ならば何もしない
}

if (param->admask)
{
yprintf(OUTPUT_LV_INFO, "Setting admask to %x.\n", param->admask);
set_admask(param->admask);
}
if (param->admask)
{
yprintf(OUTPUT_LV_INFO, "Setting admask to %x.\n", param->admask);
set_admask(param->admask);
}

if (option(OPTION_ENABLE_GET_DIGITAL_IO))
{
yprintf(OUTPUT_LV_INFO, "Enabling digital io input.\n");
set_diomask(1);
if (option(OPTION_ENABLE_GET_DIGITAL_IO))
{
yprintf(OUTPUT_LV_INFO, "Enabling digital io input.\n");
set_diomask(1);
}
}

if (!(option(OPTION_PARAM_CONTROL)))
Expand Down