group_sync_read.py

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#!/usr/bin/env python
# -*- coding: utf-8 -*-
 
 
 
# Author: Ryu Woon Jung (Leon)
 
from .robotis_def import *
 
 
class GroupSyncRead:
    def __init__(self, port, ph, start_address, data_length):
        self.port = port
        self.ph = ph
        self.start_address = start_address
        self.data_length = data_length
 
        self.last_result = False
        self.is_param_changed = False
        self.param = []
        self.data_dict = {}
 
        self.clearParam()
 
    def makeParam(self):
        if self.ph.getProtocolVersion() == 1.0:
            return
 
        if not self.data_dict:  # len(self.data_dict.keys()) == 0:
            return
 
        self.param = []
 
        for dxl_id in self.data_dict:
            self.param.append(dxl_id)
 
    def addParam(self, dxl_id):
        if self.ph.getProtocolVersion() == 1.0:
            return False
 
        if dxl_id in self.data_dict:  # dxl_id already exist
            return False
 
        self.data_dict[dxl_id] = []  # [0] * self.data_length
 
        self.is_param_changed = True
        return True
 
    def removeParam(self, dxl_id):
        if self.ph.getProtocolVersion() == 1.0:
            return
 
        if dxl_id not in self.data_dict:  # NOT exist
            return
 
        del self.data_dict[dxl_id]
 
        self.is_param_changed = True
 
    def clearParam(self):
        if self.ph.getProtocolVersion() == 1.0:
            return
 
        self.data_dict.clear()
 
    def txPacket(self):
        if self.ph.getProtocolVersion() == 1.0 or len(self.data_dict.keys()) == 0:
            return COMM_NOT_AVAILABLE
 
        if self.is_param_changed is True or not self.param:
            self.makeParam()
 
        return self.ph.syncReadTx(self.port, self.start_address, self.data_length, self.param,
                                  len(self.data_dict.keys()) * 1)
 
    def rxPacket(self):
        self.last_result = False
 
        if self.ph.getProtocolVersion() == 1.0:
            return COMM_NOT_AVAILABLE
 
        result = COMM_RX_FAIL
 
        if len(self.data_dict.keys()) == 0:
            return COMM_NOT_AVAILABLE
 
        for dxl_id in self.data_dict:
            self.data_dict[dxl_id], result, _ = self.ph.readRx(self.port, dxl_id, self.data_length)
            if result != COMM_SUCCESS:
                return result
 
        if result == COMM_SUCCESS:
            self.last_result = True
 
        return result
 
    def txRxPacket(self):
        if self.ph.getProtocolVersion() == 1.0:
            return COMM_NOT_AVAILABLE
 
        result = self.txPacket()
        if result != COMM_SUCCESS:
            return result
 
        return self.rxPacket()
 
    def isAvailable(self, dxl_id, address, data_length):
        if self.ph.getProtocolVersion() == 1.0 or self.last_result is False or dxl_id not in self.data_dict:
            return False
 
        if (address < self.start_address) or (self.start_address + self.data_length - data_length < address):
            return False
 
        return True
 
    def getData(self, dxl_id, address, data_length):
        if not self.isAvailable(dxl_id, address, data_length):
            return 0
 
        if data_length == 1:
            return self.data_dict[dxl_id][address - self.start_address]
        elif data_length == 2:
            return DXL_MAKEWORD(self.data_dict[dxl_id][address - self.start_address],
                                self.data_dict[dxl_id][address - self.start_address + 1])
        elif data_length == 4:
            return DXL_MAKEDWORD(DXL_MAKEWORD(self.data_dict[dxl_id][address - self.start_address + 0],
                                              self.data_dict[dxl_id][address - self.start_address + 1]),
                                 DXL_MAKEWORD(self.data_dict[dxl_id][address - self.start_address + 2],
                                              self.data_dict[dxl_id][address - self.start_address + 3]))
        else:
            return 0