From a4c63bea6bcc025ba76c736e2f934bb238286a7c Mon Sep 17 00:00:00 2001
From: Bianka Forkel <noreply@fortiss.org>
Date: Tue, 27 Jun 2017 09:29:10 +0000
Subject: [PATCH] Laser range finder: error value -1 refs 7886
---
.../trunk/lib/src/LaserRangeFinder.c | 10 +++++++---
1 file changed, 7 insertions(+), 3 deletions(-)
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c
index c440bf94..2790bc86 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c
@@ -28,6 +28,13 @@ GEN_TYPE_boolean lrf_is_noval() {
/** Get one distance measurement from the laser range finder. */
GEN_TYPE_int lrf_read() {
+
+ if (uart_filestream == -1)
+ return -1;
+
+ // free buffer
+ uart_flush();
+
char bytes[5];
int n_read = 0;
@@ -38,9 +45,6 @@ GEN_TYPE_int lrf_read() {
int d;
- // free buffer
- uart_flush();
-
// looks like a blocking call and actually is but is always very fast
// since it only has to read the queue
while (1) {
--
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