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Iss36 : Fixed for Mac #37

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merged 2 commits into from
Feb 2, 2022
Merged

Iss36 : Fixed for Mac #37

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03e874e
chnged serial number lookup for Mac Windows, untested
dmklee Feb 2, 2022
fa769c5
mistake in exception catch for mac
dmklee Feb 2, 2022
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32 changes: 29 additions & 3 deletions nuro_arm/robot/xarm_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,8 @@ def __init__(self, serial_number=None):
indicates how to interact with hid device. if 1, send message as
bytes and provide size argument to read; if 0, send message as
bytearray without leading 0
serial_number : str
serial number of device
'''
if platform.system() == 'Linux':
import easyhid
Expand All @@ -62,13 +64,36 @@ def __init__(self, serial_number=None):
self.type = 0
elif platform.system() == 'Windows':
import hid
self.device = hid.Device(vid=1155, pid=22352, serial=serial_number)
if serial_number is not None:
# serial number should be unicode
serial_number = str(serial_number)

try:
self.device = hid.Device(vid=1155, pid=22352, serial=serial_number)
except hid.HIDException:
print('[ERROR] No device found. Ensure that the xarm is connected via '
'usb cable and the power is on.\n'
'Turn the xarm off and back on again if needed.')
exit()

self.serial_number = self.device.serial
self.type = 1
elif platform.system() == 'Darwin':
import hid
self.device = hid.device()
self.device.open(1155, 22352, serial_number)
self.serial_number = self.device.serial
try:
if serial_number is not None:
# serial number should be unicode
serial_number = str(serial_number)

self.device.open(1155, 22352, serial_number)
except OSError:
print('[ERROR] No device found. Ensure that the xarm is connected via '
'usb cable and the power is on.\n'
'Turn the xarm off and back on again if needed.')
exit()

self.serial_number = self.device.get_serial_number_string()
self.type = 0
else:
raise TypeError('unsupported operating system')
Expand All @@ -87,6 +112,7 @@ def write(self, msg):
elif self.type == 1:
self.device.write(bytes(msg))
except self.exception:
#ToDo: why is this here, and when does this exception occur
pass

def read(self, timeout):
Expand Down