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Changed service to wait for proper response from i2c

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This commit is contained in:
Pimpest
2025-05-06 12:49:21 +02:00
parent 07c4aefa07
commit abf5717286
1 changed files with 9 additions and 2 deletions
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11
mg_bt/i2cmodule/i2cnode.cpp
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@ -8,7 +8,6 @@ extern "C" {
#include <sys/ioctl.h>
#include <i2c/smbus.h>
}
class MgI2c : public rclcpp::Node {
using I2cSrv = mg_msgs::srv::I2c;
@ -21,7 +20,15 @@ class MgI2c : public rclcpp::Node {
void send_req(I2cSrv::Request::ConstSharedPtr req, I2cSrv::Response::SharedPtr resp) const {
ioctl(i2c_fd_, I2C_SLAVE, req->addr); // NOLINT
int ch = i2c_smbus_read_byte_data(i2c_fd_, req->data);
i2c_smbus_write_byte(i2c_fd_, req->data);
int ch = 0;
rclcpp::Rate rate(100);
while (ch == 0 || (ch < 256 && ch > 0)) {
ch = i2c_smbus_read_byte(i2c_fd_);
rate.sleep();
}
resp->resp.push_back(ch);
RCLCPP_INFO(get_logger(), "Recieved %d", resp->resp.front());
}