307 lines
14 KiB
Python
307 lines
14 KiB
Python
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import abc
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import random
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from typing import Callable
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import dynamixel_sdk as dxl
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import serial
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from mock_serial import MockSerial
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from lerobot.common.motors.dynamixel.dynamixel import X_SERIES_CONTROL_TABLE
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# https://emanual.robotis.com/docs/en/dxl/crc/
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DXL_CRC_TABLE = [
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0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014,
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0x8011, 0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D,
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0x8027, 0x0022, 0x8063, 0x0066, 0x006C, 0x8069, 0x0078,
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0x807D, 0x8077, 0x0072, 0x0050, 0x8055, 0x805F, 0x005A,
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0x804B, 0x004E, 0x0044, 0x8041, 0x80C3, 0x00C6, 0x00CC,
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0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5,
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0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, 0x00A0,
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0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
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0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087,
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0x0082, 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D,
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0x8197, 0x0192, 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB,
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0x01AE, 0x01A4, 0x81A1, 0x01E0, 0x81E5, 0x81EF, 0x01EA,
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0x81FB, 0x01FE, 0x01F4, 0x81F1, 0x81D3, 0x01D6, 0x01DC,
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0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2, 0x0140, 0x8145,
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0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151, 0x8173,
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0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
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0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137,
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0x0132, 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E,
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0x0104, 0x8101, 0x8303, 0x0306, 0x030C, 0x8309, 0x0318,
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0x831D, 0x8317, 0x0312, 0x0330, 0x8335, 0x833F, 0x033A,
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0x832B, 0x032E, 0x0324, 0x8321, 0x0360, 0x8365, 0x836F,
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0x036A, 0x837B, 0x037E, 0x0374, 0x8371, 0x8353, 0x0356,
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0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342, 0x03C0,
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0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
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0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7,
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0x03E2, 0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD,
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0x83B7, 0x03B2, 0x0390, 0x8395, 0x839F, 0x039A, 0x838B,
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0x038E, 0x0384, 0x8381, 0x0280, 0x8285, 0x828F, 0x028A,
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0x829B, 0x029E, 0x0294, 0x8291, 0x82B3, 0x02B6, 0x02BC,
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0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2, 0x82E3, 0x02E6,
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0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, 0x02D0,
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0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
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0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257,
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0x0252, 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E,
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0x0264, 0x8261, 0x0220, 0x8225, 0x822F, 0x022A, 0x823B,
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0x023E, 0x0234, 0x8231, 0x8213, 0x0216, 0x021C, 0x8219,
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0x0208, 0x820D, 0x8207, 0x0202
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] # fmt: skip
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# https://emanual.robotis.com/docs/en/dxl/protocol2/#instruction
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INSTRUCTION_TYPES = {
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"Ping": 0x01, # Checks whether the Packet has arrived at a device with the same ID as the specified packet ID
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"Read": 0x02, # Read data from the Device
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"Write": 0x03, # Write data to the Device
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"Reg_Write": 0x04, # Register the Instruction Packet in standby status; Packet can later be executed using the Action command
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"Action": 0x05, # Executes a Packet that was registered beforehand using Reg Write
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"Factory_Reset": 0x06, # Resets the Control Table to its initial factory default settings
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"Reboot": 0x08, # Reboot the Device
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"Clear": 0x10, # Reset certain information stored in memory
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"Control_Table_Backup": 0x20, # Store current Control Table status data to a Backup or to restore backup EEPROM data.
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"Status": 0x55, # Return packet sent following the execution of an Instruction Packet
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"Sync_Read": 0x82, # Read data from multiple devices with the same Address with the same length at once
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"Sync_Write": 0x83, # Write data to multiple devices with the same Address with the same length at once
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"Fast_Sync_Read": 0x8A, # Read data from multiple devices with the same Address with the same length at once
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"Bulk_Read": 0x92, # Read data from multiple devices with different Addresses with different lengths at once
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"Bulk_Write": 0x93, # Write data to multiple devices with different Addresses with different lengths at once
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"Fast_Bulk_Read": 0x9A, # Read data from multiple devices with different Addresses with different lengths at once
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} # fmt: skip
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# https://emanual.robotis.com/docs/en/dxl/protocol2/#error
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STATUS_TYPE = {
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"Success": 0x00, # No error
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"Result_Fail": 0x01, # Failed to process the sent Instruction Packet
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"Instruction_Error": 0x02, # An undefined Instruction has been usedAction has been used without Reg Write
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"CRC_Error": 0x03, # The CRC of the sent Packet does not match the expected value
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"Data_Range_Error": 0x04, # Data to be written to the specified Address is outside the range of the minimum/maximum value
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"Data_Length_Error": 0x05, # Attempted to write Data that is shorter than the required data length of the specified Address
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# (ex: when you attempt to only use 2 bytes of a register that has been defined as 4 bytes)
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"Data_Limit_Error": 0x06, # Data to be written to the specified Address is outside of the configured Limit value
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"Access_Error": 0x07, # Attempted to write a value to an Address that is Read Only or has not been defined
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# Attempted to read a value from an Address that is Write Only or has not been defined
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# Attempted to write a value to an EEPROM register while Torque was Enabled.
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} # fmt: skip
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class MockDynamixelPacketv2(abc.ABC):
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@staticmethod
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def _compute_crc(crc_accum: int, data_blk: list[int], data_blk_size: int) -> int:
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for j in range(data_blk_size):
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i = ((crc_accum >> 8) ^ data_blk[j]) & 0xFF
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crc_accum = ((crc_accum << 8) ^ DXL_CRC_TABLE[i]) & 0xFFFF
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return crc_accum
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@classmethod
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def build(cls, dxl_id: int, params: list[int], *args, **kwargs) -> bytes:
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packet = cls._build(dxl_id, params, *args, **kwargs)
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crc = cls._compute_crc(0, packet, len(packet) - 2)
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packet[-2] = crc & 0xFF # lower byte
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packet[-1] = (crc >> 8) & 0xFF # upper byte
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return bytes(packet)
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@abc.abstractclassmethod
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def _build(cls, dxl_id: int, params: list[int], *args, **kwargs):
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pass
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class MockInstructionPacket(MockDynamixelPacketv2):
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"""
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Helper class to build valid Dynamixel Protocol 2.0 Instruction Packets with correct CRC.
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Protocol 2.0 Instruction Packet structure
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(from https://emanual.robotis.com/docs/en/dxl/protocol2/#instruction-packet)
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0xFF 0xFF 0xFD 0x00 # 4-byte header
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<servo_id> # typically 0x01
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<length L> <length H> # 2-byte length of (instruction+error+params+CRC)
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<instruction> # instruction type
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<parameters...> # for a 4-byte read, we have 4 param bytes
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<crc_low> <crc_high> # 16-bit CRC
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"""
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@classmethod
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def _build(cls, dxl_id: int, params: list[int], instruct_type: str):
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instruct_value = INSTRUCTION_TYPES[instruct_type]
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# For Protocol 2.0, "length" = (number_of_params + 3),
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# where:
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# +1 is for <instruction> byte,
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# +2 is for the CRC at the end.
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# The official Dynamixel SDK sometimes uses (+7) logic for sync reads
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# because it includes special sub-parameters. But at core:
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# length = (instruction byte) + (len(params)) + (CRC16 =2).
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packet_length = len(params) + 3
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return bytearray(
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[
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0xFF, 0xFF, 0xFD, 0x00, # header
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dxl_id, # servo id
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packet_length & 0xFF, # length_l
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(packet_length >> 8) & 0xFF, # length_h
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instruct_value, # instruction type
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*params, # data bytes
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0x00, 0x00 # placeholder for CRC
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]
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) # fmt: skip
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@classmethod
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def sync_read(
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cls,
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dxl_ids: list[int],
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start_address: int,
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data_length: int,
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) -> bytes:
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"""
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Helper method to build a "Sync Read" broadcast instruction.
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The official SDK might add some “stuffing” or check param_length,
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but this is enough for basic compliance if you want a raw packet.
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The parameters for Sync Read (Protocol 2.0) are:
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param[0] = start_address L
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param[1] = start_address H
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param[2] = data_length L
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param[3] = data_length H
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param[4+] = motor IDs to read from
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"""
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# Example param: [LowAddr, HighAddr, LowLen, HighLen, ID1, ID2, ...]
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params = [
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(start_address & 0xFF),
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((start_address >> 8) & 0xFF),
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(data_length & 0xFF),
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((data_length >> 8) & 0xFF),
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] + dxl_ids
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# broadcast ID: 0xFE
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return cls.build(dxl_id=0xFE, instruct_type="Sync_Read", params=params)
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class MockStatusPacket(MockDynamixelPacketv2):
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"""
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Helper class to build valid Dynamixel Protocol 2.0 Status Packets with correct CRC.
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Protocol 2.0 Status Packet structure
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(from https://emanual.robotis.com/docs/en/dxl/protocol2/#status-packet)
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0xFF 0xFF 0xFD 0x00 # 4-byte header
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<servo_id> # typically 0x01
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<length L> <length H> # 2-byte length of (instruction+error+params+CRC)
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0x55 # instruction = 0x55 means "status packet"
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<error> # 0 if no error
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<parameters...> # for a 4-byte read, we have 4 param bytes
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<crc_low> <crc_high> # 16-bit CRC
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"""
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@classmethod
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def _build(cls, dxl_id: int, params: list[int], status: str = "Success") -> bytearray:
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status_byte = STATUS_TYPE[status]
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return bytearray(
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[
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0xFF, 0xFF, 0xFD, 0x00, # header
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dxl_id, # servo id
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0x08, 0x00, # length_l, length_h = 8
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0x55, # instruction = status
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status_byte, # status
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*params, # data bytes
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0x00, 0x00 # placeholder for CRC
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]
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) # fmt: skip
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@classmethod
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def present_position(cls, dxl_id: int, pos: int | None = None, min_max_range: tuple = (0, 4095)) -> bytes:
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"""Builds a 'Present_Position' packet.
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Args:
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pos (int | None, optional): Desired 'Present_Position'. If None, it will use a random value in the
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min_max_range. Defaults to None.
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min_max_range (tuple, optional): Min/max range to generate the position values used for when 'pos'
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is None. Note that the bounds are included in the range. Defaults to (0, 4095).
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Returns:
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bytes: The raw 'Present_Position' status packet ready to be sent through serial.
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"""
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pos = random.randint(*min_max_range) if pos is None else pos
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# [lower pos 8 bits, higher pos 8 bits, 0, 0]
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params = [pos & 0xFF, (pos >> 8) & 0xFF, 0, 0]
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return cls.build(dxl_id, params)
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class MockPortHandler(dxl.PortHandler):
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def setupPort(self, baud): # noqa: N802
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if self.is_open:
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self.closePort()
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self.ser = serial.Serial(
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port=self.port_name,
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# baudrate=self.baudrate, <- This is forbidden for ttys ports (on macos at least)
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# parity = serial.PARITY_ODD,
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# stopbits = serial.STOPBITS_TWO,
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bytesize=serial.EIGHTBITS,
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timeout=0,
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)
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self.is_open = True
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self.ser.reset_input_buffer()
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self.tx_time_per_byte = (1000.0 / self.baudrate) * 10.0
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return True
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class MockMotors(MockSerial):
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ctrl_table = X_SERIES_CONTROL_TABLE
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def __init__(self, dlx_ids: list[int], default_stubs: bool = True):
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super().__init__()
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self._ids = dlx_ids
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self.open()
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if default_stubs:
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self._create_stubs("Present_Position")
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def _create_stubs(self, data_name: str):
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address, length = self.ctrl_table[data_name]
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# sync read all motors
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sync_read_request_all = MockInstructionPacket.sync_read(self._ids, address, length)
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sync_read_response_all = self._create_present_pos_send_fn(self._ids, data_name)
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self.stub(
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name=f"SyncRead_{data_name}_all",
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receive_bytes=sync_read_request_all,
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send_fn=sync_read_response_all,
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)
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# sync read single motors
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for idx in self._ids:
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sync_read_request_single = MockInstructionPacket.sync_read([idx], address, length)
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sync_read_response_single = self._create_present_pos_send_fn([idx], data_name)
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self.stub(
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name=f"SyncRead_{data_name}_{idx}",
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receive_bytes=sync_read_request_single,
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send_fn=sync_read_response_single,
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)
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def _create_present_pos_send_fn(
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self, dxl_ids: list[int], data_name: str, num_invalid_try: int | None = None
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) -> Callable[[int], bytes]:
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# if data_name == "Present_Position":
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# packet_generator = MockStatusPacket.present_position
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# else:
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# # TODO(aliberts): add "Goal_Position"
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# raise NotImplementedError
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def send_fn(_call_count: int) -> bytes:
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if num_invalid_try is not None and num_invalid_try >= _call_count:
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return bytes(0)
|
||
|
|
|
||
|
|
first_packet = MockStatusPacket.present_position(next(iter(dxl_ids)))
|
||
|
|
if len(dxl_ids) == 1:
|
||
|
|
return first_packet
|
||
|
|
|
||
|
|
packets = first_packet
|
||
|
|
for idx in dxl_ids:
|
||
|
|
packets += MockStatusPacket.present_position(dxl_id=idx)
|
||
|
|
|
||
|
|
return packets
|
||
|
|
|
||
|
|
return send_fn
|