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Improve formats & docstrings

This commit is contained in:
Simon Alibert 2025-03-20 09:36:17 +01:00
parent 64ce2669ca
commit 2d56f35071
1 changed files with 48 additions and 58 deletions
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56
tests/mocks/mock_dynamixel.py
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@ -70,7 +70,7 @@ INSTRUCTION_TYPES = {
} # fmt: skip } # fmt: skip
# https://emanual.robotis.com/docs/en/dxl/protocol2/#error # https://emanual.robotis.com/docs/en/dxl/protocol2/#error
STATUS_TYPE = { ERROR_TYPE = {
"Success": 0x00, # No error "Success": 0x00, # No error
"Result_Fail": 0x01, # Failed to process the sent Instruction Packet "Result_Fail": 0x01, # Failed to process the sent Instruction Packet
"Instruction_Error": 0x02, # An undefined Instruction has been usedAction has been used without Reg Write "Instruction_Error": 0x02, # An undefined Instruction has been usedAction has been used without Reg Write
@ -153,17 +153,15 @@ class MockDynamixelPacketv2(abc.ABC):
class MockInstructionPacket(MockDynamixelPacketv2): class MockInstructionPacket(MockDynamixelPacketv2):
""" """
Helper class to build valid Dynamixel Protocol 2.0 Instruction Packets with correct CRC. Helper class to build valid Dynamixel Protocol 2.0 Instruction Packets.
Protocol 2.0 Instruction Packet structure Protocol 2.0 Instruction Packet structure
(from https://emanual.robotis.com/docs/en/dxl/protocol2/#instruction-packet) (from https://emanual.robotis.com/docs/en/dxl/protocol2/#instruction-packet)
0xFF 0xFF 0xFD 0x00 # 4-byte header | Header | Packet ID | Length | Instruction | Params | CRC |
<servo_id> # typically 0x01 | ------------------- | --------- | ----------- | ----------- | ----------------- | ----------- |
<length L> <length H> # 2-byte length of (instruction+error+params+CRC) | 0xFF 0xFF 0xFD 0x00 | ID | Len_L Len_H | Instr | Param 1 … Param N | CRC_L CRC_H |
<instruction> # instruction type
<parameters...> # for a 4-byte read, we have 4 param bytes
<crc_low> <crc_high> # 16-bit CRC
""" """
@classmethod @classmethod
@ -182,8 +180,8 @@ class MockInstructionPacket(MockDynamixelPacketv2):
[ [
0xFF, 0xFF, 0xFD, 0x00, # header 0xFF, 0xFF, 0xFD, 0x00, # header
dxl_id, # servo id dxl_id, # servo id
packet_length & 0xFF, # length_l dxl.DXL_LOBYTE(packet_length), # length_l
(packet_length >> 8) & 0xFF, # length_h dxl.DXL_HIBYTE(packet_length), # length_h
instruct_value, # instruction type instruct_value, # instruction type
*params, # data bytes *params, # data bytes
0x00, 0x00 # placeholder for CRC 0x00, 0x00 # placeholder for CRC
@ -198,10 +196,8 @@ class MockInstructionPacket(MockDynamixelPacketv2):
data_length: int, data_length: int,
) -> bytes: ) -> bytes:
""" """
Helper method to build a "Sync Read" broadcast instruction. Helper method to build a Sync Read broadcast instruction.
(from https://emanual.robotis.com/docs/en/dxl/protocol2/#sync-read-0x82)
The official SDK might add some “stuffing” or check param_length,
but this is enough for basic compliance if you want a raw packet.
The parameters for Sync Read (Protocol 2.0) are: The parameters for Sync Read (Protocol 2.0) are:
param[0] = start_address L param[0] = start_address L
@ -210,44 +206,38 @@ class MockInstructionPacket(MockDynamixelPacketv2):
param[3] = data_length H param[3] = data_length H
param[4+] = motor IDs to read from param[4+] = motor IDs to read from
""" """
# Example param: [LowAddr, HighAddr, LowLen, HighLen, ID1, ID2, ...]
params = [ params = [
(start_address & 0xFF), dxl.DXL_LOBYTE(start_address),
((start_address >> 8) & 0xFF), dxl.DXL_HIBYTE(start_address),
(data_length & 0xFF), dxl.DXL_LOBYTE(data_length),
((data_length >> 8) & 0xFF), dxl.DXL_HIBYTE(data_length),
] + dxl_ids ] + dxl_ids
# broadcast ID: 0xFE return cls.build(dxl_id=dxl.BROADCAST_ID, instruct_type="Sync_Read", params=params)
return cls.build(dxl_id=0xFE, instruct_type="Sync_Read", params=params)
class MockStatusPacket(MockDynamixelPacketv2): class MockStatusPacket(MockDynamixelPacketv2):
""" """
Helper class to build valid Dynamixel Protocol 2.0 Status Packets with correct CRC. Helper class to build valid Dynamixel Protocol 2.0 Status Packets.
Protocol 2.0 Status Packet structure Protocol 2.0 Status Packet structure
(from https://emanual.robotis.com/docs/en/dxl/protocol2/#status-packet) (from https://emanual.robotis.com/docs/en/dxl/protocol2/#status-packet)
0xFF 0xFF 0xFD 0x00 # 4-byte header | Header | Packet ID | Length | Instruction | Error | Params | CRC |
<servo_id> # typically 0x01 | ------------------- | --------- | ----------- | ----------- | ----- | ----------------- | ----------- |
<length L> <length H> # 2-byte length of (instruction+error+params+CRC) | 0xFF 0xFF 0xFD 0x00 | ID | Len_L Len_H | 0x55 | Err | Param 1 … Param N | CRC_L CRC_H |
0x55 # instruction = 0x55 means "status packet"
<error> # 0 if no error
<parameters...> # for a 4-byte read, we have 4 param bytes
<crc_low> <crc_high> # 16-bit CRC
""" """
@classmethod @classmethod
def _build(cls, dxl_id: int, params: list[int], status: str = "Success") -> bytearray: def _build(cls, dxl_id: int, params: list[int], error: str = "Success") -> bytearray:
status_byte = STATUS_TYPE[status] err_byte = ERROR_TYPE[error]
return bytearray( return bytearray(
[ [
0xFF, 0xFF, 0xFD, 0x00, # header 0xFF, 0xFF, 0xFD, 0x00, # header
dxl_id, # servo id dxl_id, # servo id
0x08, 0x00, # length_l, length_h = 8 0x08, 0x00, # length_l, length_h = 8
0x55, # instruction = status 0x55, # instruction = 'status'
status_byte, # status err_byte, # error
*params, # data bytes *params, # data bytes
0x00, 0x00 # placeholder for CRC 0x00, 0x00 # placeholder for CRC
] ]