flash: ping360flashworker: robustify initial part of flash procedure

bluerobotics · Dec 20, 2023 · f48765b · f48765b
1 parent 70d3feb
commit f48765b
Showing 1 changed file with 23 additions and 4 deletions.
diff --git a/src/flash/ping360flashworker.cpp b/src/flash/ping360flashworker.cpp
@@ -22,11 +22,30 @@ void Ping360FlashWorker::run()
     QSerialPortInfo pInfo(_link.serialPort());
     _port->setPort(pInfo);
     _port->setBaudRate(115200);
-    _port->open(QIODevice::ReadWrite);
+
+    for (int i = 0; i < 10; i++) {
+        QThread::msleep(10);
+        if (_port->open(QIODevice::ReadWrite)) {
+            break;
+        }
+    }
+
+    if (!_port->isOpen()) {
+        error("error opening port");
+    }
 
     qCInfo(PING360FLASHWORKER) << "fetch device id...";
-    uint16_t id;
-    if (bl_read_device_id(&id)) {
+    uint16_t id = 0;
+    bool id_read = false;
+    for (int i = 0; i < 10; i++) {
+        QThread::msleep(10);
+        if (bl_read_device_id(&id)) {
+            id_read = true;
+            break;
+        }
+    }
+
+    if (id_read) {
         qCInfo(PING360FLASHWORKER) << QString::asprintf(" > device id: 0x%04x <\n", id);
     } else {
         error("error fetching device id");
@@ -45,7 +64,7 @@ void Ping360FlashWorker::run()
             return;
         }
 
-        printf(" > device type 0x%02x : hardware revision %c : bootloader v%d.%d.%d <\n", version.message.device_type,
+        qCInfo(PING360FLASHWORKER) << QString::asprintf(" > device type 0x%02x : hardware revision %c : bootloader v%d.%d.%d <\n", version.message.device_type,
             version.message.device_revision, version.message.version_major, version.message.version_minor,
             version.message.version_patch);