From c785b31c4c9652f7173a3e5aa2dd4e517c9f2996 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jakub=20Van=C4=9Bk?= <linuxtardis@gmail.com>
Date: Fri, 19 May 2023 17:20:16 +0200
Subject: [PATCH] Update RT test to use 1kHz sensor loop
---
lib/ev3/protocol/definitions.py | 2 +-
lib/ev3/protocol/uart_sensor.py | 9 ++++-----
2 files changed, 5 insertions(+), 6 deletions(-)
diff --git a/lib/ev3/protocol/definitions.py b/lib/ev3/protocol/definitions.py
index 7a8bce2..c171982 100644
--- a/lib/ev3/protocol/definitions.py
+++ b/lib/ev3/protocol/definitions.py
@@ -6,7 +6,7 @@ from micropython import const
HANDSHAKE_BAUDRATE = const(2400)
MSG_BUFFER_SIZE = const(35)
-MESSAGE_POLL_PERIOD_MS = const(10)
+MESSAGE_POLL_PERIOD_MS = const(1)
HEARTBEAT_PERIOD_MS = const(100)
MAX_HEARTBEATS_WITHOUT_DATA = const(6)
MAX_HEARTBEATS_WITHOUT_DATA_LAX = const(100)
diff --git a/lib/ev3/protocol/uart_sensor.py b/lib/ev3/protocol/uart_sensor.py
index cfc6612..689d842 100644
--- a/lib/ev3/protocol/uart_sensor.py
+++ b/lib/ev3/protocol/uart_sensor.py
@@ -81,11 +81,10 @@ class UartSensor:
msg = self._reassembler.try_receive()
while msg is not None:
# skip data messages if there are more buffered ones
- if not (self.handshake_finished and self._link.available_bytes() > self.data_msg_len):
- if not self.handshake_finished:
- self._on_handshake_message(msg)
- else:
- self._on_data_message(msg)
+ if not self.handshake_finished:
+ self._on_handshake_message(msg)
+ else:
+ self._on_data_message(msg)
msg = self._reassembler.try_receive()
if self._heartbeat.update() == SENSOR_DEAD:
--
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