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sensors/boson: Try to initialize the FLIR BOSON in a loop.
Older FLIR Boson Sensors (< IDD 4.x) take almost 10 seconds to boot compared to newer FLIR Boson Sensors. This change tests if the FLIR BOSON sensors has booted once a second for up to 10 times before giving up.
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@ -44,21 +44,38 @@
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#include "Client_API.h"
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#include "Client_API.h"
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#include "UART_Connector.h"
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#include "UART_Connector.h"
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#define FLIR_BOSON_BOOT_TIME_MS (2500)
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#define FLIR_BOSON_BOOT_TRY_COUNT (10)
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#define FLIR_BOSON_BOOT_TIME_MS (1000)
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static int boson_framesize = 0;
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static int boson_framesize = 0;
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static int reset(omv_csi_t *csi) {
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static int reset(omv_csi_t *csi) {
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csi->color_palette = NULL;
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csi->color_palette = NULL;
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int i = 0;
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FLR_BOSON_PARTNUMBER_T part;
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// Older FLIR Boson (< IDD 4.x) cameras take forever to boot up.
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for (; i < FLIR_BOSON_BOOT_TRY_COUNT; i++) {
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if (i > 1) {
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// Print something to prevent the user from thinking the camera is stuck.
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mp_printf(MP_PYTHON_PRINTER,
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"CSI: FLIR Boson not ready, retrying (%d/%d)...\n",
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i, FLIR_BOSON_BOOT_TRY_COUNT - 1);
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}
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// Give the camera time to boot.
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// Give the camera time to boot.
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mp_hal_delay_ms(FLIR_BOSON_BOOT_TIME_MS);
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mp_hal_delay_ms(FLIR_BOSON_BOOT_TIME_MS);
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// Turn the com port on.
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// Turn the com port on.
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Initialize();
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Initialize();
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FLR_BOSON_PARTNUMBER_T part;
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if (bosonGetCameraPN(&part) == FLR_OK) {
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if (bosonGetCameraPN(&part) != FLR_OK) {
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break;
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}
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}
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if (i == FLIR_BOSON_BOOT_TRY_COUNT) {
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return -1;
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return -1;
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}
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}
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