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motor_cpp/hardware/robot.cpp: Fixed bug when no serial port was found #3

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motor_cpp/hardware/robot.cpp: Fixed bug when no serial port was found #3

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22 changes: 18 additions & 4 deletions panthera_cpp/motor_cpp/src/hardware/robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
#include <yaml-cpp/yaml.h>
#include <iostream>
#include <iomanip>
#include <stdexcept>

namespace hightorque_robot
{
Expand Down Expand Up @@ -293,10 +294,13 @@ namespace hightorque_robot
{
int pid, vid;
int r = 0;
struct sp_port *port;
struct sp_port *port = nullptr;
try
{
sp_get_port_by_name(name, &port);
if (sp_get_port_by_name(name, &port) != SP_OK || port == nullptr)
{
return -3;
}
if (sp_get_port_usb_vid_pid(port, &vid, &pid) != SP_OK)
{
r = -1;
Expand Down Expand Up @@ -344,8 +348,10 @@ namespace hightorque_robot
{
std::cerr << e.what() << '\n';
r = -3;
sp_close(port);
sp_free_port(port);
if (port) {
sp_close(port);
sp_free_port(port);
}
}

return r;
Expand Down Expand Up @@ -402,6 +408,14 @@ namespace hightorque_robot
}
}

if (str.empty())
{
std::string msg = "No compatible serial ports found. "
"Connect the arm and ensure USB VID is 0xCAF1 or 0xCAE1 (PID 0xFFFF).";
std::cerr << "\033[1;31m" << msg << "\033[0m" << std::endl;
throw std::runtime_error(msg);
}

for(auto board_params: robot_params.CANboards)
{
auto cp_num = board_params.second.CANport_num;
Expand Down