moteus 0.3.92__tar.gz → 0.3.94__tar.gz

{moteus-0.3.92 → moteus-0.3.94}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.92
+Version: 0.3.94
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.92 → moteus-0.3.94}/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

{moteus-0.3.92 → moteus-0.3.94}/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-0.3.92 → moteus-0.3.94}/moteus/transport.py

@@ -419,7 +419,7 @@ class Transport:
             # 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 and ((request.frame.arbitration_id & 0x7f) == 0x7f)) and
                 request.frame_filter is not None)
 
             broadcast_requests = [x for x in request_list

{moteus-0.3.92 → moteus-0.3.94}/moteus/transport_factory.py

@@ -16,6 +16,7 @@
 import argparse
 import importlib_metadata
 import sys
+import warnings
 
 from . import fdcanusb_device
 from . import pythoncan_device
@@ -141,12 +142,36 @@ def make_transport_args(parser):
         help='Force the given transport type to be used exclusively')
 
 
+def check_gui_compatibility():
+    try:
+        import moteus_gui
+        from importlib.metadata import version, PackageNotFoundError
+        from packaging.version import parse as parse_version
+
+        try:
+            gui_version = version('moteus-gui')
+            if parse_version(gui_version) < parse_version('0.3.93'):
+                warnings.warn(
+                    "moteus-gui is outdated.  Please upgrade: python -m pip install -U moteus-gui",
+                    UserWarning
+                )
+        except PackageNotFoundError:
+            pass
+    except ImportError:
+        pass
+
+
 def get_singleton_transport(args=None):
     global GLOBAL_TRANSPORT
 
     if GLOBAL_TRANSPORT:
         return GLOBAL_TRANSPORT
 
+    # We check this here because it will likely only be called once
+    # per application instance, and will nearly always be called by
+    # the GUI.
+    check_gui_compatibility()
+
     if args and args.can_debug:
         args.can_debug = open(args.can_debug, 'wb')
 

{moteus-0.3.92 → moteus-0.3.94}/moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.92"
+VERSION="0.3.94"

{moteus-0.3.92 → moteus-0.3.94}/moteus.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.92
+Version: 0.3.94
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.92 → moteus-0.3.94}/moteus.egg-info/requires.txt

@@ -1,4 +1,5 @@
 importlib_metadata>=3.6
+packaging
 pyelftools>=0.26
 pyserial>=3.5
 python-can>=3.3

{moteus-0.3.92 → moteus-0.3.94}/setup.py

@@ -25,7 +25,7 @@ long_description = (here / 'README.md').read_text(encoding='utf-8')
 
 setuptools.setup(
     name = 'moteus',
-    version = "0.3.92",
+    version = "0.3.94",
     description = 'moteus brushless controller library and tools',
     long_description = long_description,
     long_description_content_type = 'text/markdown',
@@ -53,5 +53,6 @@ setuptools.setup(
         'scipy>=1.8.0',
         'importlib_metadata>=3.6',
         'pywin32;platform_system=="Windows"',
+        'packaging',
     ],
 )