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Implement timeout on sync read for protocol v1 #20

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merged 1 commit into from
Jan 18, 2023

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pierre-rouanet
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Fix #9

If a slice of 255 value is found in the response, the whole message is thrown away and a TimeoutError is raised instead.

We could keep the other values and only throw away the ones that actually did timeout. Yet, none of the above API was designed for this specific case. We have the same behavior for protocol v2. I've created #19 to track the issue.

@pierre-rouanet pierre-rouanet added the bug Something isn't working label Jan 17, 2023
@pierre-rouanet pierre-rouanet requested a review from simheo January 17, 2023 16:25
@pierre-rouanet pierre-rouanet self-assigned this Jan 17, 2023
@pierre-rouanet pierre-rouanet linked an issue Jan 17, 2023 that may be closed by this pull request
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Changes tested on a local Reachy:

  • timeouts are now intercepted and logged,
  • the glitches in the position on rviz seem to have disappeared.

Well done!

@simheo simheo merged commit 4893646 into develop Jan 18, 2023
@simheo simheo deleted the 13-correctly-handles-dynamixelerror branch January 18, 2023 07:39
@pierre-rouanet pierre-rouanet mentioned this pull request Jan 18, 2023
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Correctly handles DynamixelError Handles sync_read timeout in v1.
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