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feat: nodes should die entirely if no MCU found

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This should allow anchor to restart automatically if it's being run as a service
This commit is contained in:
Tristan McGinnis
2025-04-15 20:35:49 -05:00
committed by David
parent f12daff861
commit 8c4f75f75e
4 changed files with 17 additions and 10 deletions
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6
src/anchor_pkg/anchor_pkg/anchor_node.py
View File

@@ -7,6 +7,7 @@ import time
import atexit import atexit
import serial import serial
import os
import sys import sys
import threading import threading
import glob import glob
@@ -61,8 +62,9 @@ class SerialRelay(Node):
if self.port is None: if self.port is None:
self.get_logger().info("Unable to find MCU...") self.get_logger().info("Unable to find MCU...")
time.sleep(1) #kill the node/process entirely
sys.exit(1) os.kill(os.getpid(), signal.SIGKILL)
sys.exit(0)
self.ser = serial.Serial(self.port, 115200) self.ser = serial.Serial(self.port, 115200)
atexit.register(self.cleanup) atexit.register(self.cleanup)

7
src/arm_pkg/arm_pkg/arm_node.py
View File

@@ -95,9 +95,10 @@ class SerialRelay(Node):
break break
if self.port is None: if self.port is None:
self.get_logger().info("Unable to find MCU... please make sure it is connected.") self.get_logger().info("Unable to find MCU...")
time.sleep(1) #kill the node/process entirely
sys.exit(1) os.kill(os.getpid(), signal.SIGKILL)
sys.exit(0)
self.ser = serial.Serial(self.port, 115200) self.ser = serial.Serial(self.port, 115200)
atexit.register(self.cleanup) atexit.register(self.cleanup)

8
src/bio_pkg/bio_pkg/bio_node.py
View File

@@ -3,6 +3,7 @@ from rclpy.node import Node
import serial import serial
import sys import sys
import threading import threading
import os
import glob import glob
import time import time
import atexit import atexit
@@ -65,9 +66,10 @@ class SerialRelay(Node):
pass pass
if self.port is None: if self.port is None:
self.get_logger().info("Unable to find MCU... please make sure it is connected.") self.get_logger().info("Unable to find MCU...")
time.sleep(1) #kill the node/process entirely
sys.exit(1) os.kill(os.getpid(), signal.SIGKILL)
sys.exit(0)
self.ser = serial.Serial(self.port, 115200) self.ser = serial.Serial(self.port, 115200)
atexit.register(self.cleanup) atexit.register(self.cleanup)

6
src/core_pkg/core_pkg/core_node.py
View File

@@ -7,6 +7,7 @@ import time
import atexit import atexit
import serial import serial
import os
import sys import sys
import threading import threading
import glob import glob
@@ -74,8 +75,9 @@ class SerialRelay(Node):
if self.port is None: if self.port is None:
self.get_logger().info("Unable to find MCU...") self.get_logger().info("Unable to find MCU...")
time.sleep(1) #kill the node/process entirely
sys.exit(1) os.kill(os.getpid(), signal.SIGKILL)
sys.exit(0)
self.ser = serial.Serial(self.port, 115200) self.ser = serial.Serial(self.port, 115200)
atexit.register(self.cleanup) atexit.register(self.cleanup)