group_sync_write.py

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#!/usr/bin/env python
# -*- coding: utf-8 -*-
 
 
 
# Author: Ryu Woon Jung (Leon)
 
from .robotis_def import *
 
 
class GroupSyncWrite:
    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.is_param_changed = False
        self.param = []
        self.data_dict = {}
 
        self.clearParam()
 
    def makeParam(self):
        if not self.data_dict:
            return
 
        self.param = []
 
        for dxl_id in self.data_dict:
            if not self.data_dict[dxl_id]:
                return
 
            self.param.append(dxl_id)
            self.param.extend(self.data_dict[dxl_id])
 
    def addParam(self, dxl_id, data):
        if dxl_id in self.data_dict:  # dxl_id already exist
            return False
 
        if len(data) > self.data_length:  # input data is longer than set
            return False
 
        self.data_dict[dxl_id] = data
 
        self.is_param_changed = True
        return True
 
    def removeParam(self, dxl_id):
        if dxl_id not in self.data_dict:  # NOT exist
            return
 
        del self.data_dict[dxl_id]
 
        self.is_param_changed = True
 
    def changeParam(self, dxl_id, data):
        if dxl_id not in self.data_dict:  # NOT exist
            return False
 
        if len(data) > self.data_length:  # input data is longer than set
            return False
 
        self.data_dict[dxl_id] = data
 
        self.is_param_changed = True
        return True
 
    def clearParam(self):
        self.data_dict.clear()
 
    def txPacket(self):
        if 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.syncWriteTxOnly(self.port, self.start_address, self.data_length, self.param,
                                       len(self.data_dict.keys()) * (1 + self.data_length))