Commit 669f4aca authored by blissadm_ID31@bibhelm's avatar blissadm_ID31@bibhelm Committed by Matias Guijarro
Browse files

symetrie hexapod v2: fix 'pose' in _move, avoid timeout when reading reply

parent 93e97d74
......@@ -422,7 +422,7 @@ Maximum rotational acceleration: {accelerations[max_racceleration]} mm/s/s
def __read_loop(self):
while True:
try:
reply = self.comm._readline().decode()
reply = self.comm._readline(timeout=None).decode()
log_debug_data(self, "Rx: %r", reply)
except SocketTimeout:
continue
......@@ -634,7 +634,13 @@ Maximum rotational acceleration: {accelerations[max_racceleration]} mm/s/s
def _move(self, pose, async_=False):
set_pose_dict = self.set_pose._asdict()
# any coordinate which is None will be replaced by the latest set_pose
pose = Pose(*[set_pose_dict[i] if v is None else v for i, v in enumerate(pose)])
pose_keys = list(set_pose_dict.keys())
pose = Pose(
*[
set_pose_dict[pose_keys[i]] if v is None else v
for i, v in enumerate(pose)
]
)
pose_str = self.__from_pose(pose)
self.__set_pose = pose
return self("MOVE#ABS", pose_str, async_=async_)
......
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