moteus 0.3.91__tar.gz → 0.3.92__tar.gz

{moteus-0.3.91 → moteus-0.3.92}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.91
+Version: 0.3.92
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.91 → moteus-0.3.92}/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-0.3.91 → moteus-0.3.92}/moteus/moteus.py

@@ -271,14 +271,27 @@ 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 +324,18 @@ 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 +360,17 @@ 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 +941,7 @@ class Controller:
         data_buf.write(data)
 
         result.data = data_buf.getvalue()
+
         return result
 
     async def send_diagnostic_write(self, *args, **kwargs):
@@ -923,6 +959,15 @@ 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-0.3.91 → moteus-0.3.92}/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-0.3.91 → moteus-0.3.92}/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="0.3.92"

{moteus-0.3.91 → moteus-0.3.92}/moteus.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.91
+Version: 0.3.92
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.91 → moteus-0.3.92}/setup.py

@@ -25,7 +25,7 @@ long_description = (here / 'README.md').read_text(encoding='utf-8')
 
 setuptools.setup(
     name = 'moteus',
-    version = "0.3.91",
+    version = "0.3.92",
     description = 'moteus brushless controller library and tools',
     long_description = long_description,
     long_description_content_type = 'text/markdown',