[Gearbox-commit] SF.net SVN: gearbox: [98] gearbox/trunk/submitted/gbxsickacfr/driver.cpp

[<bo...@us...>]

Revision: 98
          http://gearbox.svn.sourceforge.net/gearbox/?rev=98&view=rev
Author:   borax00
Date:     2008-03-05 23:13:26 -0800 (Wed, 05 Mar 2008)

Log Message:
-----------
tried to make connection while continuous mode is on more reliable.

Modified Paths:
--------------
    gearbox/trunk/submitted/gbxsickacfr/driver.cpp

Modified: gearbox/trunk/submitted/gbxsickacfr/driver.cpp
===================================================================
--- gearbox/trunk/submitted/gbxsickacfr/driver.cpp	2008-03-06 07:03:36 UTC (rev 97)
+++ gearbox/trunk/submitted/gbxsickacfr/driver.cpp	2008-03-06 07:13:26 UTC (rev 98)
@@ -408,8 +408,26 @@
     // Turn continuous mode off
     //
     tracer_.debug("Driver: Turning continuous mode off");
-    constructRequestMeasuredOnRequestMode( commandAndData_ );
-    sendAndExpectResponse( commandAndData_ );
+    // For some reason this isn't always reliable, not too sure why.
+    // Perhaps there's some crap left in the buffer after the thing
+    // was previously in continuous mode?
+    const int MAX_TRIES=3;
+    for ( uint i=0; i < MAX_TRIES; i++ )
+    {
+        try {
+            constructRequestMeasuredOnRequestMode( commandAndData_ );
+            sendAndExpectResponse( commandAndData_ );
+            break;
+        }
+        catch ( NoResponseException &e )
+        {
+            if ( i == MAX_TRIES-1 )
+            {
+                // Give up
+                throw;
+            }
+        }
+    }
 
     //
     // Set Desired BaudRate


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