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Use constants from sdks

This commit is contained in:
Simon Alibert 2025-04-10 00:49:03 +02:00
parent 42a87e7211
commit 443fed216c
2 changed files with 40 additions and 40 deletions
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54
tests/mocks/mock_dynamixel.py
View File

@ -47,37 +47,37 @@ DXL_CRC_TABLE = [
# https://emanual.robotis.com/docs/en/dxl/protocol2/#instruction
INSTRUCTION_TYPES = {
"Ping": 0x01, # Checks whether the Packet has arrived at a device with the same ID as the specified packet ID
"Read": 0x02, # Read data from the Device
"Write": 0x03, # Write data to the Device
"Reg_Write": 0x04, # Register the Instruction Packet in standby status; Packet can later be executed using the Action command
"Action": 0x05, # Executes a Packet that was registered beforehand using Reg Write
"Factory_Reset": 0x06, # Resets the Control Table to its initial factory default settings
"Reboot": 0x08, # Reboot the Device
"Clear": 0x10, # Reset certain information stored in memory
"Control_Table_Backup": 0x20, # Store current Control Table status data to a Backup or to restore backup EEPROM data.
"Status": 0x55, # Return packet sent following the execution of an Instruction Packet
"Sync_Read": 0x82, # Read data from multiple devices with the same Address with the same length at once
"Sync_Write": 0x83, # Write data to multiple devices with the same Address with the same length at once
"Fast_Sync_Read": 0x8A, # Read data from multiple devices with the same Address with the same length at once
"Bulk_Read": 0x92, # Read data from multiple devices with different Addresses with different lengths at once
"Bulk_Write": 0x93, # Write data to multiple devices with different Addresses with different lengths at once
"Fast_Bulk_Read": 0x9A, # Read data from multiple devices with different Addresses with different lengths at once
"Ping": dxl.INST_PING, # Checks whether the Packet has arrived at a device with the same ID as the specified packet ID
"Read": dxl.INST_READ, # Read data from the Device
"Write": dxl.INST_WRITE, # Write data to the Device
"Reg_Write": dxl.INST_REG_WRITE, # Register the Instruction Packet in standby status; Packet can later be executed using the Action command
"Action": dxl.INST_ACTION, # Executes a Packet that was registered beforehand using Reg Write
"Factory_Reset": dxl.INST_FACTORY_RESET, # Resets the Control Table to its initial factory default settings
"Reboot": dxl.INST_REBOOT, # Reboot the Device
"Clear": dxl.INST_CLEAR, # Reset certain information stored in memory
"Control_Table_Backup": 0x20, # Store current Control Table status data to a Backup or to restore backup EEPROM data.
"Status": dxl.INST_STATUS, # Return packet sent following the execution of an Instruction Packet
"Sync_Read": dxl.INST_SYNC_READ, # Read data from multiple devices with the same Address with the same length at once
"Sync_Write": dxl.INST_SYNC_WRITE, # Write data to multiple devices with the same Address with the same length at once
"Fast_Sync_Read": 0x8A, # Read data from multiple devices with the same Address with the same length at once
"Bulk_Read": dxl.INST_BULK_READ, # Read data from multiple devices with different Addresses with different lengths at once
"Bulk_Write": dxl.INST_BULK_WRITE, # Write data to multiple devices with different Addresses with different lengths at once
"Fast_Bulk_Read": 0x9A, # Read data from multiple devices with different Addresses with different lengths at once
} # fmt: skip
# https://emanual.robotis.com/docs/en/dxl/protocol2/#error
ERROR_TYPE = {
"Success": 0x00, # No error
"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
"CRC_Error": 0x03, # The CRC of the sent Packet does not match the expected value
"Data_Range_Error": 0x04, # Data to be written to the specified Address is outside the range of the minimum/maximum value
"Data_Length_Error": 0x05, # Attempted to write Data that is shorter than the required data length of the specified Address
# (ex: when you attempt to only use 2 bytes of a register that has been defined as 4 bytes)
"Data_Limit_Error": 0x06, # Data to be written to the specified Address is outside of the configured Limit value
"Access_Error": 0x07, # Attempted to write a value to an Address that is Read Only or has not been defined
# Attempted to read a value from an Address that is Write Only or has not been defined
# Attempted to write a value to an EEPROM register while Torque was Enabled.
"Success": 0x00, # No error
"Result_Fail": dxl.ERRNUM_RESULT_FAIL, # Failed to process the sent Instruction Packet
"Instruction_Error": dxl.ERRNUM_INSTRUCTION, # An undefined Instruction has been usedAction has been used without Reg Write
"CRC_Error": dxl.ERRNUM_CRC, # The CRC of the sent Packet does not match the expected value
"Data_Range_Error": dxl.ERRNUM_DATA_RANGE, # Data to be written to the specified Address is outside the range of the minimum/maximum value
"Data_Length_Error": dxl.ERRNUM_DATA_LENGTH, # Attempted to write Data that is shorter than the required data length of the specified Address
# (ex: when you attempt to only use 2 bytes of a register that has been defined as 4 bytes)
"Data_Limit_Error": dxl.ERRNUM_DATA_LIMIT, # Data to be written to the specified Address is outside of the configured Limit value
"Access_Error": dxl.ERRNUM_ACCESS, # Attempted to write a value to an Address that is Read Only or has not been defined
# Attempted to read a value from an Address that is Write Only or has not been defined
# Attempted to write a value to an EEPROM register while Torque was Enabled.
} # fmt: skip

26
tests/mocks/mock_feetech.py
View File

@ -12,23 +12,23 @@ from .mock_serial_patch import WaitableStub
# https://files.waveshare.com/upload/2/27/Communication_Protocol_User_Manual-EN%28191218-0923%29.pdf
INSTRUCTION_TYPES = {
"Ping": 0x01, # Checks whether the Packet has arrived at a device with the same ID as the specified packet ID
"Read": 0x02, # Read data from the Device
"Write": 0x03, # Write data to the Device
"Reg_Write": 0x04, # Register the Instruction Packet in standby status; Packet can later be executed using the Action command
"Action": 0x05, # Executes a Packet that was registered beforehand using Reg Write
"Factory_Reset": 0x06, # Resets the Control Table to its initial factory default settings
"Sync_Read": 0x82, # Read data from multiple devices with the same Address with the same length at once
"Sync_Write": 0x83, # Write data to multiple devices with the same Address with the same length at once
"Read": scs.INST_PING, # Read data from the Device
"Ping": scs.INST_READ, # Checks whether the Packet has arrived at a device with the same ID as the specified packet ID
"Write": scs.INST_WRITE, # Write data to the Device
"Reg_Write": scs.INST_REG_WRITE, # Register the Instruction Packet in standby status; Packet can later be executed using the Action command
"Action": scs.INST_ACTION, # Executes a Packet that was registered beforehand using Reg Write
"Factory_Reset": 0x06, # Resets the Control Table to its initial factory default settings
"Sync_Write": scs.INST_SYNC_WRITE, # Write data to multiple devices with the same Address with the same length at once
"Sync_Read": scs.INST_SYNC_READ, # Read data from multiple devices with the same Address with the same length at once
} # fmt: skip
ERROR_TYPE = {
"Success": 0x00,
"Voltage": 0x01,
"Angle": 0x02,
"Overheat": 0x04,
"Overele": 0x08,
"Overload": 0x20,
"Voltage": scs.ERRBIT_VOLTAGE,
"Angle": scs.ERRBIT_ANGLE,
"Overheat": scs.ERRBIT_OVERHEAT,
"Overele": scs.ERRBIT_OVERELE,
"Overload": scs.ERRBIT_OVERLOAD,
}