# Copyright (C) 2020 Alex Sonea
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <https://www.gnu.org/licenses/>.
import logging
from pathlib import Path
from dynamixel_sdk import DXL_HIBYTE, DXL_HIWORD, DXL_LOBYTE, DXL_LOWORD
from ..base import BaseDevice
logger = logging.getLogger(__name__)
[docs]class DynamixelDevice(BaseDevice):
"""Implements specific functionality for Dynamixel devices.
Differences are:
- different version of :py:meth:`get_model_path` that
will point to the local ``device`` directory in the ``dynamixel``
module
- the initialization parameters are the same as for the class
:py:class:`BaseDevice`
"""
[docs] def __init__(self, **kwargs):
super().__init__(**kwargs)
[docs] def get_model_path(self):
"""Builds the path to the `.yml` documents.
Returns:
str :A full document path including the name of the model and the
extension `.yml`.
"""
# return os.path.join(os.path.dirname(__file__), 'devices')
return Path(__file__).parent / 'devices/'
[docs] def register_low_endian(self, value, size):
"""Converts a value into a list of bytes in little endian order.
Args:
value (int): the value of the register
size (int): the size of the register
Returns:
(list) List of bytes of len ``size`` with bytes ordered lowest
first.
"""
if size == 1:
return [value]
elif size == 2:
return [DXL_LOBYTE(value), DXL_HIBYTE(value)]
elif size == 4:
lw = DXL_LOWORD(value)
hw = DXL_HIWORD(value)
return [DXL_LOBYTE(lw), DXL_HIBYTE(lw),
DXL_LOBYTE(hw), DXL_HIBYTE(hw)]
else:
logger.error(f'Unexpected register size: {size}')
return None