About Serial Drivers

[TonyTnT]

When using serial driver to communicate with device, after driver launch, if plug out the device, the driver->is_open() still return True

[sven-hoek]

Yes, I realized that, too. It just reaches this line:

transport_drivers/serial_driver/src/serial_port.cpp

Line 103 in d3f510c

RCLCPP_ERROR_STREAM(rclcpp::get_logger("SerialPort::async_receive_handler"), error.message());

Which logs

[SerialPort::async_receive_handler]: End of file

but does nothing more (as mentioned above, is_open() still returns true. When the device connects again (the device file reappears), the driver doesn't do anything. Also in the given client-given callback function m_func, we don't have any possibility to read out the error status and react accordingly.