108 lines
3.6 KiB
Python
108 lines
3.6 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
"""Mocked classes and functions from dynamixel_sdk to allow for continuous integration
|
|
and testing code logic that requires hardware and devices (e.g. robot arms, cameras)
|
|
|
|
Warning: These mocked versions are minimalist. They do not exactly mock every behaviors
|
|
from the original classes and functions (e.g. return types might be None instead of boolean).
|
|
"""
|
|
|
|
# from dynamixel_sdk import COMM_SUCCESS
|
|
|
|
DEFAULT_BAUDRATE = 9_600
|
|
COMM_SUCCESS = 0 # tx or rx packet communication success
|
|
|
|
|
|
def convert_to_bytes(value, bytes):
|
|
# TODO(rcadene): remove need to mock `convert_to_bytes` by implemented the inverse transform
|
|
# `convert_bytes_to_value`
|
|
del bytes # unused
|
|
return value
|
|
|
|
|
|
def get_default_motor_values(motor_index):
|
|
return {
|
|
# Key (int) are from X_SERIES_CONTROL_TABLE
|
|
7: motor_index, # ID
|
|
8: DEFAULT_BAUDRATE, # Baud_rate
|
|
10: 0, # Drive_Mode
|
|
64: 0, # Torque_Enable
|
|
# Set 2560 since calibration values for Aloha gripper is between start_pos=2499 and end_pos=3144
|
|
# For other joints, 2560 will be autocorrected to be in calibration range
|
|
132: 2560, # Present_Position
|
|
}
|
|
|
|
|
|
class PortHandler:
|
|
def __init__(self, port):
|
|
self.port = port
|
|
# factory default baudrate
|
|
self.baudrate = DEFAULT_BAUDRATE
|
|
|
|
def openPort(self): # noqa: N802
|
|
return True
|
|
|
|
def closePort(self): # noqa: N802
|
|
pass
|
|
|
|
def setPacketTimeoutMillis(self, timeout_ms): # noqa: N802
|
|
del timeout_ms # unused
|
|
|
|
def getBaudRate(self): # noqa: N802
|
|
return self.baudrate
|
|
|
|
def setBaudRate(self, baudrate): # noqa: N802
|
|
self.baudrate = baudrate
|
|
|
|
|
|
class PacketHandler:
|
|
def __init__(self, protocol_version):
|
|
del protocol_version # unused
|
|
# Use packet_handler.data to communicate across Read and Write
|
|
self.data = {}
|
|
|
|
|
|
class GroupSyncRead:
|
|
def __init__(self, port_handler, packet_handler, address, bytes):
|
|
self.packet_handler = packet_handler
|
|
|
|
def addParam(self, motor_index): # noqa: N802
|
|
# Initialize motor default values
|
|
if motor_index not in self.packet_handler.data:
|
|
self.packet_handler.data[motor_index] = get_default_motor_values(motor_index)
|
|
|
|
def txRxPacket(self): # noqa: N802
|
|
return COMM_SUCCESS
|
|
|
|
def getData(self, index, address, bytes): # noqa: N802
|
|
return self.packet_handler.data[index][address]
|
|
|
|
|
|
class GroupSyncWrite:
|
|
def __init__(self, port_handler, packet_handler, address, bytes):
|
|
self.packet_handler = packet_handler
|
|
self.address = address
|
|
|
|
def addParam(self, index, data): # noqa: N802
|
|
# Initialize motor default values
|
|
if index not in self.packet_handler.data:
|
|
self.packet_handler.data[index] = get_default_motor_values(index)
|
|
self.changeParam(index, data)
|
|
|
|
def txPacket(self): # noqa: N802
|
|
return COMM_SUCCESS
|
|
|
|
def changeParam(self, index, data): # noqa: N802
|
|
self.packet_handler.data[index][self.address] = data
|