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Temp Fix for Delayed Buffering of Stop Response during Device Construction on Raspberry Pi #74

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merged 5 commits into from
May 25, 2017
Merged

Temp Fix for Delayed Buffering of Stop Response during Device Construction on Raspberry Pi #74

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c518a38
Read potentially garbage response during stop_scanning
Apr 28, 2017
f2ce86e
Suppress compiler warnings about unreferenced variables when ignoring…
May 8, 2017
eb65248
Synchronize sweepjs and libsweep version
May 17, 2017
1c99b2b
Updated changelog
May 25, 2017
69087e0
Updated changelog to reflect error propagation from background thread
May 25, 2017
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9 changes: 9 additions & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
@@ -1,5 +1,14 @@
# Changelog

## v1.1.2

This release is compatible with device firmware v1.4.

Changes:
- libsweep:
- Adapts device construction to be compatible with RaspberryPi
- Removes implementation methods from API
- Propagates errors from background thread when accumulating scans

## v1.1.1

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2 changes: 1 addition & 1 deletion libsweep/CMakeLists.txt
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Expand Up @@ -6,7 +6,7 @@ project(sweep C CXX)

set(SWEEP_VERSION_MAJOR 1)
set(SWEEP_VERSION_MINOR 1)
set(SWEEP_VERSION_PATCH 1)
set(SWEEP_VERSION_PATCH 2)


option(DUMMY "Build dummy libsweep always returning static point cloud data. No device needed." OFF)
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22 changes: 18 additions & 4 deletions libsweep/src/sweep.cc
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Expand Up @@ -279,14 +279,28 @@ void sweep_device_stop_scanning(sweep_device_s device, sweep_error_s* error) try

sweep::protocol::write_command(device->serial, sweep::protocol::DATA_ACQUISITION_STOP);

// Wait some time, for the device to register the stop cmd and stop sending data blocks
// Wait some time for a few reasons:
// 1. allow time for the device to register the stop cmd and stop sending data blocks
// 2. allow time for slower performing devices (RaspberryPi) to buffer the stop response
// 3. allow a grace period for the device to perform its logging routine before sending a second stop command
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As said in the ticket, if we can just make the timeout below a bit longer I would go for that. Even hundreds of milliseconds are fine for construction if it makes things easier for us.

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Check ticket for response.

std::this_thread::sleep_for(std::chrono::milliseconds(35));

// Flush the left over data blocks, received after sending the stop cmd
// This will also flush the response to the stop cmd
// Read the response from the first stop command
// It is possible this will contain garbage bytes (leftover from data stream), and will error
// But we are guaranteed to read at least as many bytes as the length of a stop response
sweep::protocol::response_header_s garbage_response;
try {
sweep::protocol::read_response_header(device->serial, sweep::protocol::DATA_ACQUISITION_STOP, &garbage_response);
} catch (const std::exception& ignore) {
// Catch and ignore the error in the case of the stop response containing garbage bytes
// Occurs if the device was actively streaming data before the stop cmd
(void)ignore;
}

// Flush any bytes left over, in case device was actively streaming data before the stop cmd
sweep::serial::device_flush(device->serial);

// Write another stop cmd so we can read a response
// Write another stop cmd so we can read a valid response
sweep::protocol::write_command(device->serial, sweep::protocol::DATA_ACQUISITION_STOP);

// read the response
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2 changes: 1 addition & 1 deletion sweepjs/package.json
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@@ -1,6 +1,6 @@
{
"name": "sweepjs",
"version": "1.1.1",
"version": "1.1.2",
"description": "Native module for the Sweep LiDAR",
"keywords": [
"addon",
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