Infinite loops

[luca-byte]

Problem

When the hardware is not properly connected or is malfunctioning, the code gets stuck in many infinite loops (notably in SmartMotor#calibrate(). This makes the issue undiscoverable using Serial communication and makes the upload of new firmware problematic (open/close port).

Proposed Solution

For each infinite loops provide a certain termination condition or a timeout. Use the return values to instruct the main loop behavior, which should signal malfunction either on the serial port or via can apposite messages.

[luca-byte]

List of while clauses.

include\quadrature_encoder.pio.h:
  104  {
  105: 	while (pio_sm_is_rx_fifo_empty(pio, sm));
  106  	return pio->rxf[sm];

lib\Can\src\mcp2515.cpp:
  180      bool modeMatch = false;
  181:     while (millis() < endTime) {
  182          uint8_t newmode = readRegister(MCP_CANSTAT);

lib\DynamixelSerial\src\DynamixelSerial.cpp:
   4    serialPort->write(b);
   5:   while (serialPort->available() < 1);
   6    serialPort->read();

  10    int tc = 0;
  11:   while ((serialPort->available() < n) && (tc < AX_TIME_OUT)) {
  12      tc++;

  39    serialPort->write(out, n);
  40:   while (serialPort->available() < n);
  41    for(int i = 0; i < n; i++) serialPort->read();

  48  
  49:   while (serialPort->available() > 0) {
  50      byte in = serialPort->read();

  67  
  68:   while (serialPort->available() > 0) {
  69      byte in = serialPort->read();

  86    
  87:   while (serialPort->available() > 0) {
  88      byte in = serialPort->read();

lib\SmartMotor\src\SmartMotor.cpp:

  84      motor.write(PWM_MAX_VALUE);
  85:     while(getSpeed() < th) delay(DT_ENC);
  86      int t_high = millis();

  88      motor.write(0);
  89:     while(getSpeed() > tl) delay(DT_ENC);
  90      int t_low = millis();

lib\WebManagement\src\WebManagement.cpp:

  166    if (file) {
  167:     while (file.available()) out += (char) file.read();
  168      file.close();