moteus 0.3.87__py3-none-any.whl → 0.3.89__py3-none-any.whl

moteus/fdcanusb.py

@@ -136,17 +136,34 @@ class Fdcanusb:
             # individually.
             return [await self._do_command(x) for x in commands]
 
+    def _parse_message(self, line):
+        fields = line.split(b" ")
+        message = CanMessage()
+        message.data = _dehexify(fields[2])
+        message.arbitration_id = int(fields[1], 16)
+
+        flags = fields[3] if len(fields) > 3 else ''
+        if b'E' in flags:
+            message.is_extended_id = True
+        if b'B' in flags:
+            message.bitrate_switch = True
+        if b'F' in flags:
+            message.is_fd = True
+
+        return message
+
     async def _do_command(self, command):
         await self.write(command)
         reply_required = command.reply_required
 
         # Get the OK response.
-        ok_response = await self._readline(self._serial)
-        if not ok_response.startswith(b"OK"):
-            raise RuntimeError("fdcanusb lost synchronization, got: " +
-                               ok_response.decode('latin1'))
+        while True:
+            ok_response = await self._readline(self._serial)
+            if ok_response.startswith(b"OK"):
+                break
+            # Ignore spurious responses until we get an OK.
 
-        if reply_required:
+        while reply_required:
             line = await self._readline(self._serial)
 
             if not line.startswith(b"rcv"):
@@ -157,16 +174,15 @@ class Fdcanusb:
                 self._debug_log.write(f'{time.time()} < '.encode('latin1') +
                                       line.rstrip() + b'\n')
 
-            fields = line.split(b" ")
-            message = CanMessage()
-            message.data = _dehexify(fields[2])
-            message.arbitration_id = int(fields[1], 16)
+            message = self._parse_message(line)
+
+            moteus_id = (message.arbitration_id >> 8) & 0x7f
 
-            # We are assuming that only one device is responding at a
-            # time, thus we don't even need to look at the
-            # source/destination or CAN prefix.
+            if command.raw or moteus_id == command.destination:
+                return command.parse(message)
 
-            return command.parse(message)
+            # We are not raw and the message wasn't from the device we
+            # were writing to, so just loop and try some more.
 
     async def write(self, command):
         # This merely sends a command and doesn't even wait for an OK
@@ -201,10 +217,7 @@ class Fdcanusb:
                 self._debug_log.write(f'{time.time()} < '.encode('latin1') +
                                       line.rstrip() + b'\n')
 
-            fields = line.split(b" ")
-            message = CanMessage()
-            message.data = _dehexify(fields[2])
-            message.arbitration_id = int(fields[1], 16)
+            message = self._parse_message(line)
             return message
 
     def _round_up_dlc(self, size):

moteus/moteus.py

@@ -263,7 +263,11 @@ class Register(enum.IntEnum):
     AUX2_PWM4 = 0x07e,
     AUX2_PWM5 = 0x07f,
 
+    MODEL_NUMBER = 0x0100
+    FIRMWARE_VERSION = 0x101
     REGISTER_MAP_VERSION = 0x102
+    MULTIPLEX_ID = 0x110
+
     SERIAL_NUMBER = 0x120
     SERIAL_NUMBER1 = 0x120
     SERIAL_NUMBER2 = 0x121
@@ -578,7 +582,7 @@ class Result:
 def make_parser(id):
     def parse(message):
         result = Result()
-        result.id = id
+        result.id = (message.arbitration_id >> 8) & 0x7f
         result.values = parse_reply(message.data)
 
         # We store these things just for reference, so that our
@@ -630,6 +634,11 @@ def make_diagnostic_parser(id, channel):
     return parse
 
 
+class FaultError(RuntimeError):
+    def __init__(self, mode, code):
+        super(FaultError, self).__init__(f"Fault mode={mode} code={code}")
+
+
 class Controller:
     """Operates a single moteus controller across some communication
     medium.
@@ -1019,6 +1028,9 @@ class Controller:
         reports that the trajectory has been completed.
 
         If the controller is unresponsive, this method will never return.
+
+        If the controller reports a fault or position mode timeout, a
+        FaultError exception will be raised.
         """
 
         if query_override is None:
@@ -1026,6 +1038,10 @@ class Controller:
         else:
             query_override = copy.deepcopy(query_override)
 
+        if query_override.mode == mp.IGNORE:
+            query_override.mode = mp.INT8
+        if query_override.fault == mp.IGNORE:
+            query_override.fault = mp.INT8
         query_override.trajectory_complete = mp.INT8
 
         count = 2
@@ -1041,6 +1057,12 @@ class Controller:
                 result.values[Register.TRAJECTORY_COMPLETE]):
                 return result
 
+            current_mode = result.values.get(Register.MODE, Mode.STOPPED)
+            fault_code = result.values.get(Register.FAULT, 0)
+
+            if current_mode == Mode.FAULT or current_mode == Mode.TIMEOUT:
+                raise FaultError(current_mode, fault_code)
+
             await asyncio.sleep(period_s)
 
     def make_vfoc(self,

moteus/moteus_tool.py

@@ -35,6 +35,12 @@ from . import moteus
 from . import aiostream
 from . import regression
 from . import calibrate_encoder as ce
+try:
+    from . import version
+except ImportError:
+    class Version:
+        VERSION = 'dev'
+    version = Version()
 
 MAX_FLASH_BLOCK_SIZE = 32
 
@@ -1256,6 +1262,7 @@ class Stream:
             'motor_position_output_sign' : motor_output_sign,
             'abi_version' : self.firmware.version,
             'voltage_mode_control' : voltage_mode_control,
+            'py_version' : version.VERSION,
         }
 
         log_filename = f"moteus-cal-{device_info['serial_number']}-{now.strftime('%Y%m%dT%H%M%S.%f')}.log"
@@ -1618,13 +1625,15 @@ class Stream:
         # non-linear, corrupting the result.
 
         # What we'll do is take the very last result, and the last
-        # result that is less than 70% of the current of the last
+        # result that is less than X% of the current of the last
         # result.
 
         last_result = results[-1]
 
-        less_than = [x for x in results if x[1] < 0.60 * last_result[1]][-1]
-
+        less_than_X = [x for x in results if x[1] < 0.60 * last_result[1]]
+        if len(less_than_X) == 0:
+            raise RuntimeError(f"Could not detect resistance, is motor connected?  Peak current only {last_result[1]:.3f}A w/ {last_result[0]:.3f}V applied.")
+        less_than = less_than_X[-1]
 
         resistance = ((last_result[0] - less_than[0]) /
                       (last_result[1] - less_than[1]))
@@ -2236,6 +2245,7 @@ async def async_main():
 
     group = parser.add_mutually_exclusive_group()
 
+    group.add_argument('--version', action='store_true')
     group.add_argument('-s', '--stop', action='store_true',
                        help='command the servos to stop')
     group.add_argument('-i', '--info', action='store_true',
@@ -2351,6 +2361,10 @@ async def async_main():
 
     args = parser.parse_args()
 
+    if args.version:
+        print(f"moteus_tool version '{version.VERSION}'")
+        sys.exit(0)
+
     with Runner(args) as runner:
         await runner.start()
 

moteus/pythoncan.py

@@ -95,16 +95,16 @@ class PythonCan:
     async def _do_command(self, command):
         await self.write(command)
 
-        if not command.reply_required:
-            return None
+        while command.reply_required:
+            reply = await self.read()
 
-        reply = await self._reader.get_message()
+            moteus_id = (reply.arbitration_id >> 8) & 0x7f
 
-        # We're assuming only one device will respond, so the source,
-        # destination, and CAN prefix should all match without
-        # checking.
+            if command.raw or command.destination == moteus_id:
+                return command.parse(reply)
 
-        return command.parse(reply)
+            # We did not get a response from the device we were hoping
+            # for, so just keep waiting.
 
     async def write(self, command):
         reply_required = command.reply_required
@@ -125,7 +125,12 @@ class PythonCan:
 
     async def read(self):
         self._maybe_setup()
-        return await self._reader.get_message()
+        while True:
+            frame = await self._reader.get_message()
+            if not frame.is_error_frame:
+                return frame
+            # Just ignore error frames entirely and keep reading until
+            # we get a good one.
 
     def _round_up_dlc(self, size):
         if size <= 8:

moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.87"
+VERSION="0.3.89"

{moteus-0.3.87.dist-info → moteus-0.3.89.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.87
+Version: 0.3.89
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems
@@ -13,7 +13,6 @@ Classifier: Programming Language :: Python :: 3
 Requires-Python: >=3.7, <4
 Description-Content-Type: text/markdown
 Requires-Dist: importlib-metadata >=3.6
-Requires-Dist: numpy <2
 Requires-Dist: pyelftools >=0.26
 Requires-Dist: pyserial >=3.5
 Requires-Dist: python-can >=3.3

{moteus-0.3.87.dist-info → moteus-0.3.89.dist-info}/RECORD

@@ -4,20 +4,20 @@ moteus/aiostream.py,sha256=YAkVF6QWsA49vqO-GgXEohDghqm_-nnajJzhO_Q9qNQ,3696
 moteus/calibrate_encoder.py,sha256=Ami5e-LFw4RLoLseKcZx9QfS1PjQZJUwygvNZfPqd04,15494
 moteus/command.py,sha256=UkOsbtkso6Oyex8CfbpAKpBNriik519ymxL86EZGkRs,1169
 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=i_XvLfALdd3UitmXdO63tj0iGwCCkaSsBZSyrkgYS9Y,97847
+moteus/fdcanusb.py,sha256=SOAvUlleI6bKwQiApo7nYAaqBM4JoNPn4PHdPqsgsQQ,7707
+moteus/moteus.py,sha256=r-aFtIFaj-0s438bKBc0feOo-G8v4G6jlWk4_siQshE,53322
+moteus/moteus_tool.py,sha256=2uiQyOvdn-Yd2mt0pTsZ2fzJIVb2kJeeyfT2taIiIX0,98391
 moteus/multiplex.py,sha256=2tdNX5JSh21TOjN6N9LKribLQtVYyyYbXjzwXB64sfA,12119
 moteus/posix_aioserial.py,sha256=2oDrw8TBEwuEQjY41g9rHeuFeffcPHqMwNS3nf5NVq8,3137
-moteus/pythoncan.py,sha256=M5Qba3aCzO_GyXcIsLJxjw3NrPgUk4CUnHOQIhQeIb0,4786
+moteus/pythoncan.py,sha256=j7Gv9tugQqTZbanm1lQGIoTvfmeS2kAxigB0n1a50lo,5039
 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=0H-9-BkLhMrpt7WebRlIy2uP-2RmS0Y-oPCO-T9QBJY,627
+moteus/version.py,sha256=awY4LvZ9OK5lPoCwGam-n3a3hS_9hqodOOLIH3OHQCw,627
 moteus/win32_aioserial.py,sha256=culdl-vYxBKD5n2s5LkIMGyUaHyCcEc8BL5-DWEaxX8,2025
-moteus-0.3.87.dist-info/METADATA,sha256=JIFUMH7iwTghDJf4fdupl4uwLj2vPCKCFHsp8yj3FSc,3441
-moteus-0.3.87.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
-moteus-0.3.87.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
-moteus-0.3.87.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
-moteus-0.3.87.dist-info/RECORD,,
+moteus-0.3.89.dist-info/METADATA,sha256=CYM1GbGI8SfVCd58_tRUgHAXwiL-CCOJWSlUjoxqiYY,3417
+moteus-0.3.89.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+moteus-0.3.89.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
+moteus-0.3.89.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
+moteus-0.3.89.dist-info/RECORD,,