moteus 0.3.73__py3-none-any.whl → 0.3.74__py3-none-any.whl

moteus/export.py

@@ -25,6 +25,7 @@ ALL = [
     'TRANSPORT_FACTORIES',
     'INT8', 'INT16', 'INT32', 'F32', 'IGNORE',
     'reader',
+    'RegisterParser', 'QueryParser',
 ]
 from moteus.command import Command
 from moteus.fdcanusb import Fdcanusb
@@ -36,7 +37,8 @@ from moteus.moteus import (
     Controller, Register, Mode, QueryResolution, PositionResolution, Stream,
     make_transport_args, get_singleton_transport,
     TRANSPORT_FACTORIES)
-from moteus.multiplex import (INT8, INT16, INT32, F32, IGNORE)
+from moteus.multiplex import (INT8, INT16, INT32, F32, IGNORE,
+                              RegisterParser, QueryParser)
 import moteus.reader as reader
 import moteus.aiostream as aiostream
 

moteus/multiplex.py

@@ -238,6 +238,74 @@ class RegisterParser:
         return int(self.read(resolution))
 
 
+class QueryParser:
+    '''Parse a query to see what fields will be queried and at what
+    resolution.'''
+
+    def __init__(self, data):
+        self.data = data
+        self.size = len(data)
+        self._offset = 0
+        self._remaining = 0
+        self._current_register = 0
+        self._current_resolution = INT8
+
+    @staticmethod
+    def parse(data):
+        qp = QueryParser(data)
+        return [x for x in qp]
+
+    def __iter__(self):
+        return self
+
+    def __next__(self):
+        if self._remaining:
+            self._remaining -= 1
+            this_register = self._current_register
+            self._current_register += 1
+
+            return this_register, self._current_resolution
+
+        if self._offset >= self.size:
+            raise StopIteration()
+
+        while self._offset < self.size:
+            cmd = self.data[self._offset]
+            self._offset += 1
+
+            if cmd == NOP:
+                continue
+
+            if cmd >= 0x10 and cmd < 0x20:
+                resolution = (cmd >> 2) & 0x03
+                self._current_resolution = resolution
+
+                count = cmd & 0x03
+
+                if count == 0 and self._offset >= self.size:
+                    # This is malformed.
+                    raise RuntimeError("malformed query")
+
+                if count == 0:
+                    count = self.data[self._offset]
+                    self._offset += 1
+
+                if count == 0:
+                    # Empty, guess we can ignore.
+                    continue
+
+                maybe_current_register, self._offset = read_varuint(self._offset, self.data)
+                if maybe_current_register is None:
+                    raise RuntimeError("malformed query")
+
+                self._current_register = maybe_current_register
+                self._remaining = count - 1
+
+                result_register = self._current_register
+                self._current_register += 1
+                return result_register, self._current_resolution
+
+
 class WriteFrame:
     """Provides helper methods for writing structured data into a byte
     buffer."""

moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.73"
+VERSION="0.3.74"

{moteus-0.3.73.dist-info → moteus-0.3.74.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.73
+Version: 0.3.74
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.73.dist-info → moteus-0.3.74.dist-info}/RECORD

@@ -3,21 +3,21 @@ moteus/aioserial.py,sha256=GeWuvsZKCRrfBN33JZFjtBXPr-0sKpQv9shRn2ulcDA,1079
 moteus/aiostream.py,sha256=YAkVF6QWsA49vqO-GgXEohDghqm_-nnajJzhO_Q9qNQ,3696
 moteus/calibrate_encoder.py,sha256=R3gWoKY-ikYlXViiCrhX_0BH7Ahx3T7zvDjX47go-Wc,15167
 moteus/command.py,sha256=UkOsbtkso6Oyex8CfbpAKpBNriik519ymxL86EZGkRs,1169
-moteus/export.py,sha256=vRIfldaqz1eHtWo3993SvatATtu73TZbejL0hzQe8YE,1646
+moteus/export.py,sha256=XitBUuf4MDRIneXQSUptizIhZi2BdHyFO2Vo_2d2CFI,1742
 moteus/fdcanusb.py,sha256=7PrQiCTROY96gdT2zSZYU1bOCriw-I7H6NspaZpiEx4,7431
 moteus/moteus.py,sha256=vImSRBn6VEmoijD6hvrSRVxuv1_xVaEJU3F_3Wi6GiE,52498
 moteus/moteus_tool.py,sha256=ALwXiDWVwiAx9yJu0o-2eKd47wyKH5mRPq264mZrn5E,79662
-moteus/multiplex.py,sha256=LF6MuelzYHqqsCJuCB9YeEyUA03eBaTYRwAVotX3qm8,10120
+moteus/multiplex.py,sha256=2tdNX5JSh21TOjN6N9LKribLQtVYyyYbXjzwXB64sfA,12119
 moteus/posix_aioserial.py,sha256=2oDrw8TBEwuEQjY41g9rHeuFeffcPHqMwNS3nf5NVq8,3137
 moteus/pythoncan.py,sha256=ofotOrDuaFhTLvaokaO3EJK6quVc75Bq-ue70lDMtXI,4071
 moteus/reader.py,sha256=9i1-h4aGd4syfqtWJcpg70Bl-bmunkGU4FmXmOLyRt8,12121
 moteus/regression.py,sha256=M5gjDBYJQ64iBXIrvBhMkD8TYhtlnQ85x8U4py0niGA,1196
 moteus/router.py,sha256=501W5GZ12rFoc1lmcH3S7IYsoc-Q_-FJ4B3i37RzE3Q,2061
 moteus/transport.py,sha256=WhkW2G9i25lkOlO55eI5_oXmU0PhDmxTeJ75Sg_7nTI,1021
-moteus/version.py,sha256=5_fWVR7dSRZGbeKSGDI9a1MBAxaHKTOCWtgVlCY30BE,627
+moteus/version.py,sha256=MMbaYQfVxvrukU0ch2BvAhEZVKvp8YZb3oeBDxmoSS4,627
 moteus/win32_aioserial.py,sha256=culdl-vYxBKD5n2s5LkIMGyUaHyCcEc8BL5-DWEaxX8,2025
-moteus-0.3.73.dist-info/METADATA,sha256=HIVrIqvoZY517yT3s_Euh10uzoZjYn4KmSHj2r_7K04,3490
-moteus-0.3.73.dist-info/WHEEL,sha256=G16H4A3IeoQmnOrYV4ueZGKSjhipXx8zc8nu9FGlvMA,92
-moteus-0.3.73.dist-info/entry_points.txt,sha256=indCsEML1fmtWJU1WiV-d7UmmTaAMhyBLEc1iiKnexQ,57
-moteus-0.3.73.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
-moteus-0.3.73.dist-info/RECORD,,
+moteus-0.3.74.dist-info/METADATA,sha256=bjSDdr78BY_7wBiA4jAX05LQD4J5OUITbbWkm-jL8YE,3490
+moteus-0.3.74.dist-info/WHEEL,sha256=G16H4A3IeoQmnOrYV4ueZGKSjhipXx8zc8nu9FGlvMA,92
+moteus-0.3.74.dist-info/entry_points.txt,sha256=indCsEML1fmtWJU1WiV-d7UmmTaAMhyBLEc1iiKnexQ,57
+moteus-0.3.74.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
+moteus-0.3.74.dist-info/RECORD,,