From 06dd2d9f48deda1d282f50ea2e1f92b49e36505b Mon Sep 17 00:00:00 2001
From: "ishak jmilou.ishak" <ishak.jmiloui@hva.nl>
Date: Thu, 9 Jan 2025 15:52:22 +0100
Subject: [PATCH] fix: streamline Kobuki communication startup and reconnection
 logic

---
 src/C++/Driver/src/main.cpp | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/C++/Driver/src/main.cpp b/src/C++/Driver/src/main.cpp
index 6d2c67e..712deb2 100644
--- a/src/C++/Driver/src/main.cpp
+++ b/src/C++/Driver/src/main.cpp
@@ -20,7 +20,8 @@ void sendKobukiData(TKobukiData &data);
 void setup() {
   unsigned char *null_ptr(0);
   std::cout << "Attempting to start communication with Kobuki..." << std::endl;
-  if (!robot.startCommunication("/dev/ttyUSB0", true, null_ptr)) {
+  robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
+  if (!robot.isConnected()) {
     std::cerr << "Failed to start communication with Kobuki." << std::endl;
   } else {
     std::cout << "Successfully started communication with Kobuki." << std::endl;
@@ -41,9 +42,7 @@ int main() {
   while (true) {
     if (!robot.isConnected()) {
       std::cout << "Kobuki is not connected anymore. Reconnecting..." << std::endl;
-      if (!robot.startCommunication("/dev/ttyUSB0", true, nullptr)) {
-        std::cerr << "Failed to reconnect to Kobuki." << std::endl;
-      }
+      robot.startCommunication("/dev/ttyUSB0", true, nullptr);
       while (!robot.isConnected()) {
         std::cout << "Attempting to reconnect..." << std::endl;
         std::this_thread::sleep_for(std::chrono::seconds(1));