moteus 0.3.91__py3-none-any.whl → 0.3.93__py3-none-any.whl

moteus/command.py

@@ -24,6 +24,10 @@ class Command():
     can_prefix = 0x0000  # a 13 bit CAN prefix
     expected_reply_size = 0
 
+    # An optional function object which when passed a Frame returns
+    # True if the frame matches what is expected for this command.
+    reply_filter = None
+
     # If True, then the following parameters are used directly instead
     # of being calculated from destination and source (i.e. for
     # non-moteus devices).

moteus/moteus.py

@@ -14,6 +14,7 @@
 
 import asyncio
 import argparse
+import collections.abc
 import copy
 import enum
 import io
@@ -30,6 +31,32 @@ from .transport_factory import TRANSPORT_FACTORIES, get_singleton_transport, mak
 import moteus.reader
 
 
+def namedtuple_to_dict(obj):
+    '''Convert a namedtuple recursively into a nested dictionary.
+
+    This function handles namedtuples, dictionaries, and sequences,
+    converting them to nested dictionaries and lists suitable for
+    JSON serialization.
+
+    Args:
+        obj: The object to convert (typically a namedtuple)
+
+    Returns:
+        dict, list, or primitive type representation of the input
+    '''
+
+    if isinstance(obj, tuple) and hasattr(obj, "_fields"):
+        return {field: namedtuple_to_dict(getattr(obj, field)) for field in obj._fields}
+
+    if isinstance(obj, collections.abc.Mapping):
+        return {k: namedtuple_to_dict(v) for k, v in obj.items()}
+
+    if isinstance(obj, collections.abc.Sequence) and not isinstance(obj, (str, bytes, bytearray)):
+        return [namedtuple_to_dict(x) for x in obj]
+
+    return obj
+
+
 def _merge_resolutions(a, b):
     if a == mp.IGNORE:
         return b
@@ -271,14 +298,27 @@ class Controller:
         return buf.getvalue(), expected_reply_size
 
     def _format_query(self, query, query_override, data_buf, result):
+        def expect_reply(frame):
+            # For a reply to these requests, the first byte should be
+            # one of the reply or error frames.
+            if len(frame.data) < 1:
+                return False
+
+            if frame.data[0] & 0xf0 == 0x20 or frame.data[0] == 0x31:
+                return True
+
+            return False
+
         if query_override is not None:
             query_data, expected_reply_size = \
                 self._make_query_data(query_override)
             data_buf.write(query_data)
             result.expected_reply_size = expected_reply_size
+            result.reply_filter = expect_reply
         elif query:
             data_buf.write(self._query_data)
             result.expected_reply_size = self._default_query_reply_size
+            result.reply_filter = expect_reply
 
     def _make_command(self, *, query, query_override=None):
         result = cmd.Command()
@@ -311,7 +351,18 @@ class Controller:
         else:
             result.data = self._query_data
             result.expected_reply_size = self._default_query_reply_size
-        return result;
+
+        def expect_reply(frame):
+            if len(frame.data) < 1:
+                return False
+
+            if frame.data[0] & 0xf0 == 0x20 or frame.data[0] == 0x31:
+                return True
+
+            return False
+
+        result.reply_filter = expect_reply
+        return result
 
     async def query(self, **kwargs):
         return await self.execute(self.make_query(**kwargs))
@@ -336,6 +387,17 @@ class Controller:
 
         result.data = data_buf.getvalue()
         result.expected_reply_size = c.reply_size
+
+        def expect_reply(frame):
+            if len(frame.data) < 1:
+                return False
+
+            if frame.data[0] & 0xf0 == 0x20 or frame.data[0] == 0x31:
+                return True
+
+            return False
+
+        result.reply_filter = expect_reply
         return result
 
     async def custom_query(self, *args, **kwargs):
@@ -906,6 +968,7 @@ class Controller:
         data_buf.write(data)
 
         result.data = data_buf.getvalue()
+
         return result
 
     async def send_diagnostic_write(self, *args, **kwargs):
@@ -923,6 +986,15 @@ class Controller:
 
         result.data = data_buf.getvalue()
         result.expected_reply_size = 3 + max_length
+
+        def expect_diagnostic_response(frame):
+            if len(frame.data) < 3:
+                return False
+
+            return frame.data[0] == 0x41
+
+        result.reply_filter = expect_diagnostic_response
+
         return result
 
     async def diagnostic_read(self, *args, **kwargs):

moteus/moteus_tool.py

@@ -37,6 +37,7 @@ from . import moteus
 from . import aiostream
 from . import regression
 from . import calibrate_encoder as ce
+from .moteus import namedtuple_to_dict
 
 from .device_info import DeviceAddress
 
@@ -63,21 +64,6 @@ CURRENT_QUALITY_MIN = 20
 VOLTAGE_MODE_QUALITY_MIN = 40
 
 
-def _deep_asdict(obj):
-    '''Convert a namedtuple recursively into a nested dictionary'''
-
-    if isinstance(obj, tuple) and hasattr(obj, "_fields"):
-        return {field: _deep_asdict(getattr(obj, field)) for field in obj._fields}
-
-    if isinstance(obj, collections.abc.Mapping):
-        return {k: _deep_asdict(v) for k, v in obj.items()}
-
-    if isinstance(obj, collections.abc.Sequence) and not isinstance(obj, (str, bytes, bytearray)):
-        return [_deep_asdict(x) for x in obj]
-
-    return obj
-
-
 def _wrap_neg_pi_to_pi(value):
     while value > math.pi:
         value -= 2.0 * math.pi
@@ -1014,7 +1000,7 @@ class Stream:
 
     async def do_read(self, channel):
         result = await self.read_data(channel)
-        print(json.dumps(_deep_asdict(result), indent=2))
+        print(json.dumps(namedtuple_to_dict(result), indent=2))
 
     async def do_flash(self, elffile):
         elf = _read_elf(elffile, [".text", ".ARM.extab", ".ARM.exidx",
@@ -1177,7 +1163,7 @@ class Stream:
                 print()
                 print("*** FAILED: Gate driver fault (code=33) during calibration: ")
                 drv8323 = await self.read_data("drv8323")
-                print(json.dumps(_deep_asdict(drv8323), indent=2))
+                print(json.dumps(namedtuple_to_dict(drv8323), indent=2))
                 sys.exit(1)
             else:
                 raise

moteus/transport.py

@@ -321,16 +321,36 @@ class Transport:
             # responses.
             return lambda f: True
 
-        # Filter by both the source and destination device IDs.
-        return lambda f: (
-            (((f.arbitration_id >> 8) & 0x7f) == self._make_canid(command.destination) or
-             self._make_canid(command.destination) == 0x7f) and
-            (f.arbitration_id & 0x7f) == command.source)
+        dest_id = self._make_canid(command.destination)
+        source_id = command.source
+        reply_filter = getattr(command, 'reply_filter', None)
+        prefix = getattr(command, 'can_prefix', 0)
+
+        def predicate(f,
+                      dest_id=dest_id,
+                      source_id=source_id,
+                      prefix=prefix):
+            if ((f.arbitration_id >> 16) & 0x1fff) != prefix:
+                return False
+
+            if ((f.arbitration_id >> 8) & 0x7f != dest_id and
+                dest_id != 0x7f):
+                return False
+
+            if f.arbitration_id & 0x7f != source_id:
+                return False
+
+            if reply_filter and not reply_filter(f):
+                return False
+
+            return True
+
+        return predicate
 
     async def _cycle_batch(self, commands, request_attitude,
                            read_unsolicited, force_can_check):
         # Group requests by device.  This is a map from device to:
-        #  (TransportDevice.Request)
+        #  [TransportDevice.Request, ...]
         device_requests = collections.defaultdict(list)
 
         for i, command in enumerate(commands):
@@ -396,10 +416,52 @@ class Transport:
         tasks = []
         device_list = []
         for device, request_list in device_requests.items():
-            tasks.append(device.transaction(
-                request_list,
-                request_attitude=request_attitude,
-                force_can_check=force_can_check))
+            # We can send at most one broadcast frame that needs
+            # replies per transaction.
+            broadcast_with_reply = lambda request: (
+                (request.frame.arbitration_id & 0x7f) == 0x7f and
+                request.frame_filter is not None)
+
+            broadcast_requests = [x for x in request_list
+                                  if broadcast_with_reply(x)]
+            non_broadcast_requests = [x for x in request_list
+                                      if not broadcast_with_reply(x)]
+
+            async def run_in_sequence(d=device,
+                                      br=broadcast_requests,
+                                      nbr=non_broadcast_requests):
+
+                this_request_attitude = request_attitude
+                this_force_can_check = force_can_check
+
+                for b in br:
+                    await d.transaction(
+                        [b],
+                        request_attitude=this_request_attitude,
+                        force_can_check=this_force_can_check)
+
+                    this_request_attitude = False
+                    this_force_can_check = None
+
+                if nbr:
+                    await d.transaction(
+                        nbr,
+                        request_attitude=this_request_attitude,
+                        force_can_check=this_force_can_check)
+
+            if (len(broadcast_requests) + (1 if non_broadcast_requests else 0)) == 1:
+                # We can use a single transaction, either because we
+                # have a single broadcast request and no other
+                # requests, or no broadcast requests.
+                tasks.append(device.transaction(
+                    request_list,
+                    request_attitude=request_attitude,
+                    force_can_check=force_can_check))
+            else:
+                # We have to do multiple transactions to complete
+                # this.
+                tasks.append(run_in_sequence())
+
             device_list.append(device)
 
         # Wait for all transports to complete.

moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.91"
+VERSION="0.3.93"

{moteus-0.3.91.dist-info → moteus-0.3.93.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.91
+Version: 0.3.93
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.91.dist-info → moteus-0.3.93.dist-info}/RECORD

@@ -2,13 +2,13 @@ moteus/__init__.py,sha256=DxasQre5HmK3BS3I35K8GEUvFZF3_OE_hjVzQy-seIE,739
 moteus/aioserial.py,sha256=GeWuvsZKCRrfBN33JZFjtBXPr-0sKpQv9shRn2ulcDA,1079
 moteus/aiostream.py,sha256=YAkVF6QWsA49vqO-GgXEohDghqm_-nnajJzhO_Q9qNQ,3696
 moteus/calibrate_encoder.py,sha256=Ami5e-LFw4RLoLseKcZx9QfS1PjQZJUwygvNZfPqd04,15494
-moteus/command.py,sha256=_WYnIwyh7OZwhmlLVy4TlAYOLV2uWd4om0BQG2-_XUM,1302
+moteus/command.py,sha256=f4r2NeFFKZ9ypS47cMKf325sr_eqS4OHfAYM4YsaXvo,1462
 moteus/device_info.py,sha256=TBYQtfXDfIlyg17HXnUOKj13JZNc6iWvt0ZiZm0MlXA,2292
 moteus/export.py,sha256=9cR_Y3JypZ756JYNKeYRamOwwzNmt5Ign8yJ7BRoBuk,2124
 moteus/fdcanusb.py,sha256=96WQjwjTgHEPeIAV0A0AsW0_n3hbyUEOl2ZuWsaiOBE,1058
 moteus/fdcanusb_device.py,sha256=rYJdncT9C7ikavNqiFpjb_9n8fsLbsd5CGpbdm_fSyw,11456
-moteus/moteus.py,sha256=Wj1RwvDORIAxCEyBno7LoEEfmoIY89jKpkAb7RxPqwM,40813
-moteus/moteus_tool.py,sha256=qhISCcMAtlDMhkkqUKxsPIbeyfMjquPpLW8aBgTVHFw,99724
+moteus/moteus.py,sha256=vyAdT6YT3-9i9erJ-QUrR1bY2-ETgkhRzehDil99pQc,42870
+moteus/moteus_tool.py,sha256=7LSxPc4gwJTAkOuBVhMm0arQGwP4336S71wBZBTE-Jg,99267
 moteus/multiplex.py,sha256=2tdNX5JSh21TOjN6N9LKribLQtVYyyYbXjzwXB64sfA,12119
 moteus/posix_aioserial.py,sha256=2oDrw8TBEwuEQjY41g9rHeuFeffcPHqMwNS3nf5NVq8,3137
 moteus/protocol.py,sha256=zzoKukC6p5MemConDFdUKyk3QuSyMM-tgzXDITFPYss,13407
@@ -16,14 +16,14 @@ moteus/pythoncan.py,sha256=7VMCPHvFasy9V507kKVV5jUyzZXFjvhsbqT5hMYI-jA,864
 moteus/pythoncan_device.py,sha256=e-NGnMX4-tFhQY8PShNJiA8GLwf_iKU_BiJsTekM6B8,7710
 moteus/reader.py,sha256=9i1-h4aGd4syfqtWJcpg70Bl-bmunkGU4FmXmOLyRt8,12121
 moteus/regression.py,sha256=M5gjDBYJQ64iBXIrvBhMkD8TYhtlnQ85x8U4py0niGA,1196
-moteus/transport.py,sha256=3q1BepCO-BwAc_VbSl3UhkZBZV3iQg8PYHpD2Ur8gxA,25830
+moteus/transport.py,sha256=jVrT47O5nv_TpZeNr2GUZd7oOz397zIJJnBQvXT82gY,28125
 moteus/transport_device.py,sha256=QDSqFiGuLQVvMo26a6CmnMXMzrSovdji6yzHSr_cDGA,5820
 moteus/transport_factory.py,sha256=vuLUXWl62DcGrXfoQTRKQvx4EAegx22lU8A-18JgJqg,5889
 moteus/transport_wrapper.py,sha256=7oOBFSvD7Zk5BiWjX_YcGSTlMIZC4GmL88uzVYVQBbE,1733
-moteus/version.py,sha256=cTdVf166IUGf348GCy3clzyXTJBb2FAu75uFxq962BA,627
+moteus/version.py,sha256=O719mKnILALctfBBRT6sn77cBNmjrF5gGIFv54dJvXo,627
 moteus/win32_aioserial.py,sha256=culdl-vYxBKD5n2s5LkIMGyUaHyCcEc8BL5-DWEaxX8,2025
-moteus-0.3.91.dist-info/METADATA,sha256=hR4s9e0T53X3VjzYwuANd6xotsBzsZCWcnPfBECKUBU,3417
-moteus-0.3.91.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
-moteus-0.3.91.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
-moteus-0.3.91.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
-moteus-0.3.91.dist-info/RECORD,,
+moteus-0.3.93.dist-info/METADATA,sha256=_4swFTQeCCEDlqeUTJjwaootPp2_vVLwD1TfDkRdleE,3417
+moteus-0.3.93.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+moteus-0.3.93.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
+moteus-0.3.93.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
+moteus-0.3.93.dist-info/RECORD,,