HendiCtrl: better Exceptions

components/actor/hendiCtrl.py

@@ -6,7 +6,10 @@ import sys
 import numpy as np
 from contextlib import contextmanager
 
+class HendiException(Exception):
+	pass
 
+class HendiCtrl:
 class HendiCtrl:
 	def __init__(self, port, speed):
 		self.ser = serial.Serial(port, speed)
@@ -32,8 +35,12 @@ class HendiCtrl:
 		}
 		self.poly_w2d = np.polyfit(powers, digits, 5)
 		self.poly_d2w = np.polyfit(digits, powers, 5)
-		self.sw_id = self.getSoftwareIdentifier()
-		self.sw_ver = self.getSoftwareVersion()
+
+		try:
+			self.sw_id = self.getSoftwareIdentifier()
+			self.sw_ver = self.getSoftwareVersion()
+		except HendiException:
+			print("HendiCtrl: Hendi not found")
 
 	@contextmanager
 	def remote_open(self):
@@ -113,7 +120,7 @@ class HendiCtrl:
 		self.__write(req)
 		rsp = self.__read()
 		if "OK" not in rsp[0]:
-			raise Exception(rsp[1])
+			raise HendiException(f"Communication error")
 
 		return rsp[1]