Merge pull request #16 from ROBOTIS-GIT/hotfixes

Hotfixes for python example codes

ReleaseNote.txt

@@ -1,3 +1,13 @@
+==============================================
+    Dynamixel SDK v3.3.2 (Protocol 1.0/2.0)
+==============================================
+
+- 06.30.2016
+
+* SDK Python  strange printout problem solved
+
+* Solved issue : #3, #8
+
 ==============================================
     Dynamixel SDK v3.3.1 (Protocol 1.0/2.0)
 ==============================================

python/protocol1_0/bulk_read.py

@@ -18,19 +18,23 @@
 # Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
 #
 
-import os, sys, ctypes
+import os, ctypes
 
 if os.name == 'nt':
     import msvcrt
     def getch():
         return msvcrt.getch().decode()
 else:
-    import tty, termios
+    import sys, tty, termios
     fd = sys.stdin.fileno()
     old_settings = termios.tcgetattr(fd)
-    tty.setraw(sys.stdin.fileno())
     def getch():
-        return sys.stdin.read(1)
+        try:
+            tty.setraw(sys.stdin.fileno())
+            ch = sys.stdin.read(1)
+        finally:
+            termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+        return ch
 
 os.sys.path.append('../dynamixel_functions_py')             # Path setting
 
@@ -95,7 +99,7 @@ def getch():
 else:
     print("Failed to open the port!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 
@@ -105,7 +109,7 @@ def getch():
 else:
     print("Failed to change the baudrate!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 

python/protocol1_0/factory_reset.py

@@ -22,19 +22,23 @@
 # This example resets all properties of Dynamixel to default values, such as %% ID : 1 / Baudnum : 34 (Baudrate : 57600)
 #
 
-import os, sys
+import os
 
 if os.name == 'nt':
     import msvcrt
     def getch():
         return msvcrt.getch().decode()
 else:
-    import tty, termios
+    import sys, tty, termios
     fd = sys.stdin.fileno()
     old_settings = termios.tcgetattr(fd)
-    tty.setraw(sys.stdin.fileno())
     def getch():
-        return sys.stdin.read(1)
+        try:
+            tty.setraw(sys.stdin.fileno())
+            ch = sys.stdin.read(1)
+        finally:
+            termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+        return ch
 
 os.sys.path.append('../dynamixel_functions_py')             # Path setting
 
@@ -79,7 +83,7 @@ def getch():
 else:
     print("Failed to open the port!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 
@@ -89,7 +93,7 @@ def getch():
 else:
     print("Failed to change the baudrate!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 
@@ -118,7 +122,7 @@ def getch():
     print("Succeed to change the controller baudrate to : %d" % (FACTORYRST_DEFAULTBAUDRATE))
 else:
     print("Failed to change the controller baudrate")
-    msvcrt.getch()
+    getch()
     quit()
 
 # Read Dynamixel baudnum
@@ -144,7 +148,7 @@ def getch():
     print("Succeed to change the controller baudrate to : %d" % (BAUDRATE))
 else:
     print("Failed to change the controller baudrate")
-    msvcrt.getch()
+    getch()
     quit()
 
 sleep(0.2)

python/protocol1_0/multi_port.py

@@ -18,19 +18,23 @@
 # Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000 [1M])
 #
 
-import os, sys
+import os
 
 if os.name == 'nt':
     import msvcrt
     def getch():
         return msvcrt.getch().decode()
 else:
-    import tty, termios
+    import sys, tty, termios
     fd = sys.stdin.fileno()
     old_settings = termios.tcgetattr(fd)
-    tty.setraw(sys.stdin.fileno())
     def getch():
-        return sys.stdin.read(1)
+        try:
+            tty.setraw(sys.stdin.fileno())
+            ch = sys.stdin.read(1)
+        finally:
+            termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+        return ch
 
 os.sys.path.append('../dynamixel_functions_py')             # Path setting
 
@@ -85,7 +89,7 @@ def getch():
 else:
     print("Failed to open the port!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 # Open port2
@@ -94,7 +98,7 @@ def getch():
 else:
     print("Failed to open the port!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 
@@ -104,7 +108,7 @@ def getch():
 else:
     print("Failed to change the baudrate!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 # Set port2 baudrate
@@ -113,7 +117,7 @@ def getch():
 else:
     print("Failed to change the baudrate!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 

python/protocol1_0/ping.py

@@ -18,19 +18,23 @@
 # Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000 [1M])
 #
 
-import os, sys
+import os
 
 if os.name == 'nt':
     import msvcrt
     def getch():
         return msvcrt.getch().decode()
 else:
-    import tty, termios
+    import sys, tty, termios
     fd = sys.stdin.fileno()
     old_settings = termios.tcgetattr(fd)
-    tty.setraw(sys.stdin.fileno())
     def getch():
-        return sys.stdin.read(1)
+        try:
+            tty.setraw(sys.stdin.fileno())
+            ch = sys.stdin.read(1)
+        finally:
+            termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+        return ch
 
 os.sys.path.append('../dynamixel_functions_py')             # Path setting
 
@@ -64,7 +68,7 @@ def getch():
 else:
     print("Failed to open the port!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 # Set port baudrate
@@ -73,7 +77,7 @@ def getch():
 else:
     print("Failed to change the baudrate!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 

python/protocol1_0/read_write.py

@@ -18,19 +18,23 @@
 # Be sure that Dynamixel MX properties are already set as ## ID : 1 / Baudnum : 1 (Baudrate : 1000000 [1M])
 #
 
-import os, sys
+import os
 
 if os.name == 'nt':
     import msvcrt
     def getch():
         return msvcrt.getch().decode()
 else:
-    import tty, termios
+    import sys, tty, termios
     fd = sys.stdin.fileno()
     old_settings = termios.tcgetattr(fd)
-    tty.setraw(sys.stdin.fileno())
     def getch():
-        return sys.stdin.read(1)
+        try:
+            tty.setraw(sys.stdin.fileno())
+            ch = sys.stdin.read(1)
+        finally:
+            termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+        return ch
 
 os.sys.path.append('../dynamixel_functions_py')             # Path setting
 
@@ -82,7 +86,7 @@ def getch():
 else:
     print("Failed to open the port!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 # Set port baudrate
@@ -91,7 +95,7 @@ def getch():
 else:
     print("Failed to change the baudrate!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 

python/protocol1_0/sync_write.py

@@ -18,19 +18,23 @@
 # Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000 [1M])
 #
 
-import os, sys, ctypes
+import os, ctypes
 
 if os.name == 'nt':
     import msvcrt
     def getch():
         return msvcrt.getch().decode()
 else:
-    import tty, termios
+    import sys, tty, termios
     fd = sys.stdin.fileno()
     old_settings = termios.tcgetattr(fd)
-    tty.setraw(sys.stdin.fileno())
     def getch():
-        return sys.stdin.read(1)
+        try:
+            tty.setraw(sys.stdin.fileno())
+            ch = sys.stdin.read(1)
+        finally:
+            termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+        return ch
 
 os.sys.path.append('../dynamixel_functions_py')             # Path setting
 
@@ -91,7 +95,7 @@ def getch():
 else:
     print("Failed to open the port!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 # Set port baudrate
@@ -100,7 +104,7 @@ def getch():
 else:
     print("Failed to change the baudrate!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 

python/protocol2_0/broadcast_ping.py

@@ -18,19 +18,23 @@
 # Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000 [1M])
 #
 
-import os, sys, ctypes
+import os, ctypes
 
 if os.name == 'nt':
     import msvcrt
     def getch():
         return msvcrt.getch().decode()
 else:
-    import tty, termios
+    import sys, tty, termios
     fd = sys.stdin.fileno()
     old_settings = termios.tcgetattr(fd)
-    tty.setraw(sys.stdin.fileno())
     def getch():
-        return sys.stdin.read(1)
+        try:
+            tty.setraw(sys.stdin.fileno())
+            ch = sys.stdin.read(1)
+        finally:
+            termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+        return ch
 
 os.sys.path.append('../dynamixel_functions_py')             # Path setting
 
@@ -65,7 +69,7 @@ def getch():
 else:
     print("Failed to open the port!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 # Set port baudrate
@@ -74,7 +78,7 @@ def getch():
 else:
     print("Failed to change the baudrate!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 # Try to broadcast ping the Dynamixel