import abc import random from typing import Callable import dynamixel_sdk as dxl import serial from mock_serial import MockSerial from lerobot.common.motors.dynamixel.dynamixel import X_SERIES_CONTROL_TABLE # https://emanual.robotis.com/docs/en/dxl/crc/ DXL_CRC_TABLE = [ 0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011, 0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022, 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072, 0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041, 0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, 0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, 0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082, 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192, 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1, 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1, 0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2, 0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151, 0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162, 0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132, 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101, 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312, 0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321, 0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371, 0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342, 0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1, 0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2, 0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2, 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381, 0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291, 0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2, 0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, 0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, 0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252, 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261, 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231, 0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202 ] # fmt: skip # 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 } # 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. } # fmt: skip class MockDynamixelPacketv2(abc.ABC): @classmethod def build(cls, dxl_id: int, params: list[int], *args, **kwargs) -> bytes: packet = cls._build(dxl_id, params, *args, **kwargs) packet = cls._add_stuffing(packet) packet = cls._add_crc(packet) return bytes(packet) @abc.abstractclassmethod def _build(cls, dxl_id: int, params: list[int], *args, **kwargs) -> bytearray: pass @staticmethod def _add_stuffing(packet: bytearray) -> bytearray: packet_length_in = dxl.DXL_MAKEWORD(packet[dxl.PKT_LENGTH_L], packet[dxl.PKT_LENGTH_H]) packet_length_out = packet_length_in temp = [0] * dxl.TXPACKET_MAX_LEN # FF FF FD XX ID LEN_L LEN_H temp[dxl.PKT_HEADER0 : dxl.PKT_HEADER0 + dxl.PKT_LENGTH_H + 1] = packet[ dxl.PKT_HEADER0 : dxl.PKT_HEADER0 + dxl.PKT_LENGTH_H + 1 ] index = dxl.PKT_INSTRUCTION for i in range(0, packet_length_in - 2): # except CRC temp[index] = packet[i + dxl.PKT_INSTRUCTION] index = index + 1 if ( packet[i + dxl.PKT_INSTRUCTION] == 0xFD and packet[i + dxl.PKT_INSTRUCTION - 1] == 0xFF and packet[i + dxl.PKT_INSTRUCTION - 2] == 0xFF ): # FF FF FD temp[index] = 0xFD index = index + 1 packet_length_out = packet_length_out + 1 temp[index] = packet[dxl.PKT_INSTRUCTION + packet_length_in - 2] temp[index + 1] = packet[dxl.PKT_INSTRUCTION + packet_length_in - 1] index = index + 2 if packet_length_in != packet_length_out: packet = [0] * index packet[0:index] = temp[0:index] packet[dxl.PKT_LENGTH_L] = dxl.DXL_LOBYTE(packet_length_out) packet[dxl.PKT_LENGTH_H] = dxl.DXL_HIBYTE(packet_length_out) return packet @staticmethod def _add_crc(packet: bytearray) -> int: crc = 0 for j in range(len(packet) - 2): i = ((crc >> 8) ^ packet[j]) & 0xFF crc = ((crc << 8) ^ DXL_CRC_TABLE[i]) & 0xFFFF packet[-2] = dxl.DXL_LOBYTE(crc) packet[-1] = dxl.DXL_HIBYTE(crc) return packet class MockInstructionPacket(MockDynamixelPacketv2): """ Helper class to build valid Dynamixel Protocol 2.0 Instruction Packets. Protocol 2.0 Instruction Packet structure (from https://emanual.robotis.com/docs/en/dxl/protocol2/#instruction-packet) | Header | Packet ID | Length | Instruction | Params | CRC | | ------------------- | --------- | ----------- | ----------- | ----------------- | ----------- | | 0xFF 0xFF 0xFD 0x00 | ID | Len_L Len_H | Instr | Param 1 … Param N | CRC_L CRC_H | """ @classmethod def _build(cls, dxl_id: int, params: list[int], instruct_type: str): instruct_value = INSTRUCTION_TYPES[instruct_type] # For Protocol 2.0, "length" = (number_of_params + 3), # where: # +1 is for byte, # +2 is for the CRC at the end. # The official Dynamixel SDK sometimes uses (+7) logic for sync reads # because it includes special sub-parameters. But at core: # length = (instruction byte) + (len(params)) + (CRC16 =2). packet_length = len(params) + 3 return bytearray( [ 0xFF, 0xFF, 0xFD, 0x00, # header dxl_id, # servo id dxl.DXL_LOBYTE(packet_length), # length_l dxl.DXL_HIBYTE(packet_length), # length_h instruct_value, # instruction type *params, # data bytes 0x00, 0x00 # placeholder for CRC ] ) # fmt: skip @classmethod def sync_read( cls, dxl_ids: list[int], start_address: int, data_length: int, ) -> bytes: """ Helper method to build a Sync Read broadcast instruction. (from https://emanual.robotis.com/docs/en/dxl/protocol2/#sync-read-0x82) The parameters for Sync Read (Protocol 2.0) are: param[0] = start_address L param[1] = start_address H param[2] = data_length L param[3] = data_length H param[4+] = motor IDs to read from """ params = [ dxl.DXL_LOBYTE(start_address), dxl.DXL_HIBYTE(start_address), dxl.DXL_LOBYTE(data_length), dxl.DXL_HIBYTE(data_length), ] + dxl_ids return cls.build(dxl_id=dxl.BROADCAST_ID, instruct_type="Sync_Read", params=params) class MockStatusPacket(MockDynamixelPacketv2): """ Helper class to build valid Dynamixel Protocol 2.0 Status Packets. Protocol 2.0 Status Packet structure (from https://emanual.robotis.com/docs/en/dxl/protocol2/#status-packet) | Header | Packet ID | Length | Instruction | Error | Params | CRC | | ------------------- | --------- | ----------- | ----------- | ----- | ----------------- | ----------- | | 0xFF 0xFF 0xFD 0x00 | ID | Len_L Len_H | 0x55 | Err | Param 1 … Param N | CRC_L CRC_H | """ @classmethod def _build(cls, dxl_id: int, params: list[int], error: str = "Success") -> bytearray: err_byte = ERROR_TYPE[error] return bytearray( [ 0xFF, 0xFF, 0xFD, 0x00, # header dxl_id, # servo id 0x08, 0x00, # length_l, length_h = 8 0x55, # instruction = 'status' err_byte, # error *params, # data bytes 0x00, 0x00 # placeholder for CRC ] ) # fmt: skip @classmethod def present_position(cls, dxl_id: int, pos: int | None = None, min_max_range: tuple = (0, 4095)) -> bytes: """Builds a 'Present_Position' packet. Args: pos (int | None, optional): Desired 'Present_Position'. If None, it will use a random value in the min_max_range. Defaults to None. min_max_range (tuple, optional): Min/max range to generate the position values used for when 'pos' is None. Note that the bounds are included in the range. Defaults to (0, 4095). Returns: bytes: The raw 'Present_Position' status packet ready to be sent through serial. """ pos = random.randint(*min_max_range) if pos is None else pos # [lower pos 8 bits, higher pos 8 bits, 0, 0] params = [pos & 0xFF, (pos >> 8) & 0xFF, 0, 0] return cls.build(dxl_id, params) class MockPortHandler(dxl.PortHandler): """ This class overwrite the 'setupPort' method of the dynamixel PortHandler because it can specify baudrates that are not supported with a serial port on MacOS. """ def setupPort(self, cflag_baud): # noqa: N802 if self.is_open: self.closePort() self.ser = serial.Serial( port=self.port_name, # baudrate=self.baudrate, <- This will fail on MacOS # parity = serial.PARITY_ODD, # stopbits = serial.STOPBITS_TWO, bytesize=serial.EIGHTBITS, timeout=0, ) self.is_open = True self.ser.reset_input_buffer() self.tx_time_per_byte = (1000.0 / self.baudrate) * 10.0 return True class MockMotors(MockSerial): """ This class will simulate physical motors by responding with valid status packets upon receiving some instruction packets. It is meant to test MotorsBus classes. 'data_name' supported: - Present_Position """ ctrl_table = X_SERIES_CONTROL_TABLE def __init__(self, dlx_ids: list[int]): super().__init__() self._ids = dlx_ids self.open() def build_single_motor_stubs( self, data_name: str, return_value: int | None = None, num_invalid_try: int | None = None ) -> None: address, length = self.ctrl_table[data_name] for idx in self._ids: if data_name == "Present_Position": sync_read_request_single = MockInstructionPacket.sync_read([idx], address, length) sync_read_response_single = self._build_present_pos_send_fn( [idx], [return_value], num_invalid_try ) else: raise NotImplementedError # TODO(aliberts): add ping? self.stub( name=f"SyncRead_{data_name}_{idx}", receive_bytes=sync_read_request_single, send_fn=sync_read_response_single, ) def build_all_motors_stub( self, data_name: str, return_values: list[int] | None = None, num_invalid_try: int | None = None ) -> None: address, length = self.ctrl_table[data_name] if data_name == "Present_Position": sync_read_request_all = MockInstructionPacket.sync_read(self._ids, address, length) sync_read_response_all = self._build_present_pos_send_fn( self._ids, return_values, num_invalid_try ) else: raise NotImplementedError # TODO(aliberts): add ping? self.stub( name=f"SyncRead_{data_name}_all", receive_bytes=sync_read_request_all, send_fn=sync_read_response_all, ) def _build_present_pos_send_fn( self, dxl_ids: list[int], return_pos: list[int] | None = None, num_invalid_try: int | None = None ) -> Callable[[int], bytes]: return_pos = [None for _ in dxl_ids] if return_pos is None else return_pos assert len(return_pos) == len(dxl_ids) def send_fn(_call_count: int) -> bytes: if num_invalid_try is not None and num_invalid_try >= _call_count: return b"" packets = b"".join( MockStatusPacket.present_position(idx, pos) for idx, pos in zip(dxl_ids, return_pos, strict=True) ) return packets return send_fn