From 7fbb13db4d482ddd65c581a7bd085648bbe1a418 Mon Sep 17 00:00:00 2001
From: leon <rwjung@robotis.com>
Date: Fri, 1 Jul 2016 21:36:07 +0900
Subject: [PATCH 1/3] example - python (linux strange print out problem solved)

---
 python/protocol1_0/bulk_read.py               | 16 +++++++++------
 python/protocol1_0/factory_reset.py           | 20 +++++++++++--------
 python/protocol1_0/multi_port.py              | 20 +++++++++++--------
 python/protocol1_0/ping.py                    | 16 +++++++++------
 python/protocol1_0/read_write.py              | 16 +++++++++------
 python/protocol1_0/sync_write.py              | 16 +++++++++------
 python/protocol2_0/broadcast_ping.py          | 16 +++++++++------
 python/protocol2_0/bulk_read_write.py         | 16 +++++++++------
 python/protocol2_0/factory_reset.py           | 20 +++++++++++--------
 python/protocol2_0/indirect_address.py        | 16 +++++++++------
 python/protocol2_0/multi_port.py              | 20 +++++++++++--------
 python/protocol2_0/ping.py                    | 16 +++++++++------
 python/protocol2_0/read_write.py              | 16 +++++++++------
 python/protocol2_0/rebooting.py               | 18 ++++++++++-------
 python/protocol2_0/sync_read_write.py         | 16 +++++++++------
 python/protocol_combined/protocol_combined.py | 16 +++++++++------
 16 files changed, 169 insertions(+), 105 deletions(-)

diff --git a/python/protocol1_0/bulk_read.py b/python/protocol1_0/bulk_read.py
index a7b288bf..5395fee7 100644
--- a/python/protocol1_0/bulk_read.py
+++ b/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()
 
 
diff --git a/python/protocol1_0/factory_reset.py b/python/protocol1_0/factory_reset.py
index 00ec6f69..d8f983d8 100644
--- a/python/protocol1_0/factory_reset.py
+++ b/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)
diff --git a/python/protocol1_0/multi_port.py b/python/protocol1_0/multi_port.py
index a384a51b..ca76ea10 100644
--- a/python/protocol1_0/multi_port.py
+++ b/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()
 
 
diff --git a/python/protocol1_0/ping.py b/python/protocol1_0/ping.py
index df602c64..16540790 100644
--- a/python/protocol1_0/ping.py
+++ b/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()
 
 
diff --git a/python/protocol1_0/read_write.py b/python/protocol1_0/read_write.py
index 43a81dac..b2663159 100644
--- a/python/protocol1_0/read_write.py
+++ b/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()
 
 
diff --git a/python/protocol1_0/sync_write.py b/python/protocol1_0/sync_write.py
index a49fa7f6..1ca8d7db 100644
--- a/python/protocol1_0/sync_write.py
+++ b/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()
 
 
diff --git a/python/protocol2_0/broadcast_ping.py b/python/protocol2_0/broadcast_ping.py
index 6c5017d1..61f7de0d 100644
--- a/python/protocol2_0/broadcast_ping.py
+++ b/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
diff --git a/python/protocol2_0/bulk_read_write.py b/python/protocol2_0/bulk_read_write.py
index 915504d6..c98a12cd 100644
--- a/python/protocol2_0/bulk_read_write.py
+++ b/python/protocol2_0/bulk_read_write.py
@@ -18,19 +18,23 @@
 # Be sure that Dynamixel PRO properties are already set as %% ID : 1 and 2 / 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
 
@@ -100,7 +104,7 @@ def getch():
 else:
     print("Failed to open the port!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 # Set port baudrate
@@ -109,7 +113,7 @@ def getch():
 else:
     print("Failed to change the baudrate!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 
diff --git a/python/protocol2_0/factory_reset.py b/python/protocol2_0/factory_reset.py
index 99d88bda..337fd907 100644
--- a/python/protocol2_0/factory_reset.py
+++ b/python/protocol2_0/factory_reset.py
@@ -22,19 +22,23 @@
 # This example resets all properties of Dynamixel to default values, such as %% ID : 1 / Baudnum : 1 (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
 
@@ -81,7 +85,7 @@ def getch():
 else:
     print("Failed to open the port!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 # Set port baudrate
@@ -90,7 +94,7 @@ def getch():
 else:
     print("Failed to change the baudrate!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 
@@ -119,7 +123,7 @@ 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
@@ -145,7 +149,7 @@ 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)
diff --git a/python/protocol2_0/indirect_address.py b/python/protocol2_0/indirect_address.py
index af54bbea..0c6553ec 100644
--- a/python/protocol2_0/indirect_address.py
+++ b/python/protocol2_0/indirect_address.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
 
@@ -106,7 +110,7 @@ def getch():
 else:
     print("Failed to open the port!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 # Set port baudrate
@@ -115,7 +119,7 @@ def getch():
 else:
     print("Failed to change the baudrate!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 
diff --git a/python/protocol2_0/multi_port.py b/python/protocol2_0/multi_port.py
index 0d8fb158..57e88bc4 100644
--- a/python/protocol2_0/multi_port.py
+++ b/python/protocol2_0/multi_port.py
@@ -18,19 +18,23 @@
 # Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000)
 #
 
-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()
 
 
diff --git a/python/protocol2_0/ping.py b/python/protocol2_0/ping.py
index 1bdcf642..890a10e5 100644
--- a/python/protocol2_0/ping.py
+++ b/python/protocol2_0/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
+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()
 
 
diff --git a/python/protocol2_0/read_write.py b/python/protocol2_0/read_write.py
index 27343552..4be88bb5 100644
--- a/python/protocol2_0/read_write.py
+++ b/python/protocol2_0/read_write.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
+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()
 
 
diff --git a/python/protocol2_0/rebooting.py b/python/protocol2_0/rebooting.py
index f124c809..90e71a3d 100644
--- a/python/protocol2_0/rebooting.py
+++ b/python/protocol2_0/rebooting.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
+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
@@ -73,12 +77,12 @@ def getch():
 else:
     print("Failed to change the baudrate!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 # Trigger
 print("Press any key to reboot")
-msvcrt.getch()
+getch()
 
 print("See the Dynamixel LED flickering")
 # Try reboot
diff --git a/python/protocol2_0/sync_read_write.py b/python/protocol2_0/sync_read_write.py
index bd30fb27..81c52944 100644
--- a/python/protocol2_0/sync_read_write.py
+++ b/python/protocol2_0/sync_read_write.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
 
@@ -96,7 +100,7 @@ def getch():
 else:
     print("Failed to open the port!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 
@@ -106,7 +110,7 @@ def getch():
 else:
     print("Failed to change the baudrate!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 
diff --git a/python/protocol_combined/protocol_combined.py b/python/protocol_combined/protocol_combined.py
index 60add7c6..a2fcd3ae 100644
--- a/python/protocol_combined/protocol_combined.py
+++ b/python/protocol_combined/protocol_combined.py
@@ -21,19 +21,23 @@
 # This example configures two different control tables (especially, if it uses Dynamixel and Dynamixel PRO). It may modify critical Dynamixel parameter on the control table, if Dynamixels have wrong ID.
 #
 
-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
 
@@ -96,7 +100,7 @@ def getch():
 else:
     print("Failed to open the port!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 
@@ -106,7 +110,7 @@ def getch():
 else:
     print("Failed to change the baudrate!")
     print("Press any key to terminate...")
-    msvcrt.getch()
+    getch()
     quit()
 
 

From b6caf4fce4ec6f21840fe61b21d96ef3c65b5022 Mon Sep 17 00:00:00 2001
From: leon <rwjung@robotis.com>
Date: Fri, 1 Jul 2016 21:48:24 +0900
Subject: [PATCH 2/3] example - python (protocol 2.0 sync_read_write \n
 removed)

---
 python/protocol2_0/sync_read_write.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/protocol2_0/sync_read_write.py b/python/protocol2_0/sync_read_write.py
index 81c52944..99b21a80 100644
--- a/python/protocol2_0/sync_read_write.py
+++ b/python/protocol2_0/sync_read_write.py
@@ -195,7 +195,7 @@ def getch():
         # Get Dynamixel#2 present position value
         dxl2_present_position = dynamixel.groupSyncReadGetData(groupread_num, DXL2_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION)
 
-        print("[ID:%03d] GoalPos:%03d  PresPos:%03d\t[ID:%03d] GoalPos:%03d  PresPos:%03d\n" % (DXL1_ID, dxl_goal_position[index], dxl1_present_position, DXL2_ID, dxl_goal_position[index], dxl2_present_position))
+        print("[ID:%03d] GoalPos:%03d  PresPos:%03d\t[ID:%03d] GoalPos:%03d  PresPos:%03d" % (DXL1_ID, dxl_goal_position[index], dxl1_present_position, DXL2_ID, dxl_goal_position[index], dxl2_present_position))
 
         if not ((abs(dxl_goal_position[index] - dxl1_present_position) > DXL_MOVING_STATUS_THRESHOLD) or (abs(dxl_goal_position[index] - dxl2_present_position) > DXL_MOVING_STATUS_THRESHOLD)):
             break

From 42d0c63f5efe0e3e280dd6f0552be795034d81d9 Mon Sep 17 00:00:00 2001
From: leon <rwjung@robotis.com>
Date: Fri, 1 Jul 2016 21:50:52 +0900
Subject: [PATCH 3/3] ReleaseNote.txt updated

---
 ReleaseNote.txt | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/ReleaseNote.txt b/ReleaseNote.txt
index cfd09b0c..01ac88eb 100644
--- a/ReleaseNote.txt
+++ b/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)
 ==============================================