wangzixiang
/
lerobot
mirror of https://github.com/huggingface/lerobot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Improve logging & typing

This commit is contained in:
Simon Alibert 2025-03-22 11:11:39 +01:00
parent 40675ec76c
commit f2ed2bfb2f
1 changed files with 13 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
lerobot/common/motors/motors_bus.py
View File

@ -14,10 +14,10 @@
# See the License for the specific language governing permissions and # See the License for the specific language governing permissions and
# limitations under the License. # limitations under the License.
# TODO(aliberts): This noqa is for the PortHandler / PacketHandler Protocols
# Add block noqa when feature below is available
# https://github.com/astral-sh/ruff/issues/3711
# ruff: noqa: N802 # ruff: noqa: N802
# This noqa is for the Protocols classes: PortHandler, PacketHandler GroupSyncRead/Write
# TODO(aliberts): Add block noqa when feature below is available
# https://github.com/astral-sh/ruff/issues/3711
import abc import abc
import json import json
@ -325,13 +325,14 @@ class MotorsBus(abc.ABC):
if not self.port_handler.openPort(): if not self.port_handler.openPort():
raise OSError(f"Failed to open port '{self.port}'.") raise OSError(f"Failed to open port '{self.port}'.")
except (FileNotFoundError, OSError, serial.SerialException) as e: except (FileNotFoundError, OSError, serial.SerialException) as e:
print( logger.error(
f"\nCould not connect on port '{self.port}'. Make sure you are using the correct port." f"\nCould not connect on port '{self.port}'. Make sure you are using the correct port."
"\nTry running `python lerobot/scripts/find_motors_bus_port.py`\n" "\nTry running `python lerobot/scripts/find_motors_bus_port.py`\n"
) )
raise e raise e
self.set_timeout() self.set_timeout()
logger.debug(f"{self.__class__.__name__} connected.")
def set_timeout(self, timeout_ms: int | None = None): def set_timeout(self, timeout_ms: int | None = None):
timeout_ms = timeout_ms if timeout_ms is not None else self.default_timeout timeout_ms = timeout_ms if timeout_ms is not None else self.default_timeout
@ -347,7 +348,7 @@ class MotorsBus(abc.ABC):
# TODO(aliberts): use ping instead # TODO(aliberts): use ping instead
return (self.ids == self.read("ID")).all() return (self.ids == self.read("ID")).all()
except ConnectionError as e: except ConnectionError as e:
print(e) logger.error(e)
return False return False
def ping(self, motor: NameOrID, num_retry: int = 0, raise_on_error: bool = False) -> int | None: def ping(self, motor: NameOrID, num_retry: int = 0, raise_on_error: bool = False) -> int | None:
@ -369,7 +370,7 @@ class MotorsBus(abc.ABC):
def set_baudrate(self, baudrate) -> None: def set_baudrate(self, baudrate) -> None:
present_bus_baudrate = self.port_handler.getBaudRate() present_bus_baudrate = self.port_handler.getBaudRate()
if present_bus_baudrate != baudrate: if present_bus_baudrate != baudrate:
print(f"Setting bus baud rate to {baudrate}. Previously {present_bus_baudrate}.") logger.info(f"Setting bus baud rate to {baudrate}. Previously {present_bus_baudrate}.")
self.port_handler.setBaudRate(baudrate) self.port_handler.setBaudRate(baudrate)
if self.port_handler.getBaudRate() != baudrate: if self.port_handler.getBaudRate() != baudrate:
@ -440,11 +441,11 @@ class MotorsBus(abc.ABC):
raise TypeError(f"'{motor}' should be int, str.") raise TypeError(f"'{motor}' should be int, str.")
@overload @overload
def read(self, data_name: str, motors: None = ...) -> dict[str, Value]: ... def read(self, data_name: str, motors: None = ..., num_retry: int = ...) -> dict[str, Value]: ...
@overload @overload
def read(self, data_name: str, motors: NameOrID) -> dict[NameOrID, Value]: ... def read(
@overload self, data_name: str, motors: NameOrID | list[NameOrID], num_retry: int = ...
def read(self, data_name: str, motors: list[NameOrID]) -> dict[NameOrID, Value]: ... ) -> dict[NameOrID, Value]: ...
def read( def read(
self, data_name: str, motors: NameOrID | list[NameOrID] | None = None, num_retry: int = 0 self, data_name: str, motors: NameOrID | list[NameOrID] | None = None, num_retry: int = 0
) -> dict[NameOrID, Value]: ) -> dict[NameOrID, Value]:
@ -516,7 +517,7 @@ class MotorsBus(abc.ABC):
# for idx in motor_ids: # for idx in motor_ids:
# value = self.reader.getData(idx, address, n_bytes) # value = self.reader.getData(idx, address, n_bytes)
def write(self, data_name: str, values: int | dict[NameOrID, int], num_retry: int = 0) -> None: def write(self, data_name: str, values: Value | dict[NameOrID, Value], num_retry: int = 0) -> None:
if not self.is_connected: if not self.is_connected:
raise DeviceNotConnectedError( raise DeviceNotConnectedError(
f"{self.__class__.__name__}('{self.port}') is not connected. You need to run `{self.__class__.__name__}.connect()`." f"{self.__class__.__name__}('{self.port}') is not connected. You need to run `{self.__class__.__name__}.connect()`."
@ -570,6 +571,7 @@ class MotorsBus(abc.ABC):
) )
self.port_handler.closePort() self.port_handler.closePort()
logger.debug(f"{self.__class__.__name__} disconnected.")
def __del__(self): def __del__(self):
if self.is_connected: if self.is_connected: