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#!/usr/bin/env python
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import abc
from collections.abc import Callable
import scservo_sdk as scs
import serial
from mock_serial import MockSerial
from lerobot.motors.feetech.feetech import _split_into_byte_chunks, patch_setPacketTimeout
from .mock_serial_patch import WaitableStub
class MockFeetechPacket(abc.ABC):
@classmethod
def build(cls, scs_id: int, params: list[int], length: int, *args, **kwargs) -> bytes:
packet = cls._build(scs_id, params, length, *args, **kwargs)
packet = cls._add_checksum(packet)
return bytes(packet)
@abc.abstractclassmethod
def _build(cls, scs_id: int, params: list[int], length: int, *args, **kwargs) -> list[int]:
pass
@staticmethod
def _add_checksum(packet: list[int]) -> list[int]:
checksum = 0
for id_ in range(2, len(packet) - 1): # except header & checksum
checksum += packet[id_]
packet[-1] = ~checksum & 0xFF
return packet
class MockInstructionPacket(MockFeetechPacket):
"""
Helper class to build valid Feetech Instruction Packets.
Instruction Packet structure
(from https://files.waveshare.com/upload/2/27/Communication_Protocol_User_Manual-EN%28191218-0923%29.pdf)
| Header | Packet ID | Length | Instruction | Params | Checksum |
| --------- | --------- | ------ | ----------- | ----------------- | -------- |
| 0xFF 0xFF | ID | Len | Instr | Param 1 … Param N | Sum |
"""
@classmethod
def _build(cls, scs_id: int, params: list[int], length: int, instruction: int) -> list[int]:
return [
0xFF, 0xFF, # header
scs_id, # servo id
length, # length
instruction, # instruction type
*params, # data bytes
0x00, # placeholder for checksum
] # fmt: skip
@classmethod
def ping(
cls,
scs_id: int,
) -> bytes:
"""
Builds a "Ping" broadcast instruction.
No parameters required.
"""
return cls.build(scs_id=scs_id, params=[], length=2, instruction=scs.INST_PING)
@classmethod
def read(
cls,
scs_id: int,
start_address: int,
data_length: int,
) -> bytes:
"""
Builds a "Read" instruction.
The parameters for Read are:
param[0] = start_address
param[1] = data_length
And 'length' = 4, where:
+1 is for instruction byte,
+1 is for the address byte,
+1 is for the length bytes,
+1 is for the checksum at the end.
"""
params = [start_address, data_length]
length = 4
return cls.build(scs_id=scs_id, params=params, length=length, instruction=scs.INST_READ)
@classmethod
def write(
cls,
scs_id: int,
value: int,
start_address: int,
data_length: int,
) -> bytes:
"""
Builds a "Write" instruction.
The parameters for Write are:
param[0] = start_address L
param[1] = start_address H
param[2] = 1st Byte
param[3] = 2nd Byte
...
param[1+X] = X-th Byte
And 'length' = data_length + 3, where:
+1 is for instruction byte,
+1 is for the length bytes,
+1 is for the checksum at the end.
"""
data = _split_into_byte_chunks(value, data_length)
params = [start_address, *data]
length = data_length + 3
return cls.build(scs_id=scs_id, params=params, length=length, instruction=scs.INST_WRITE)
@classmethod
def sync_read(
cls,
scs_ids: list[int],
start_address: int,
data_length: int,
) -> bytes:
"""
Builds a "Sync_Read" broadcast instruction.
The parameters for Sync Read are:
param[0] = start_address
param[1] = data_length
param[2+] = motor IDs to read from
And 'length' = (number_of_params + 4), where:
+1 is for instruction byte,
+1 is for the address byte,
+1 is for the length bytes,
+1 is for the checksum at the end.
"""
params = [start_address, data_length, *scs_ids]
length = len(scs_ids) + 4
return cls.build(
scs_id=scs.BROADCAST_ID, params=params, length=length, instruction=scs.INST_SYNC_READ
)
@classmethod
def sync_write(
cls,
ids_values: dict[int, int],
start_address: int,
data_length: int,
) -> bytes:
"""
Builds a "Sync_Write" broadcast instruction.
The parameters for Sync_Write are:
param[0] = start_address
param[1] = data_length
param[2] = [1st motor] ID
param[2+1] = [1st motor] 1st Byte
param[2+2] = [1st motor] 2nd Byte
...
param[5+X] = [1st motor] X-th Byte
param[6] = [2nd motor] ID
param[6+1] = [2nd motor] 1st Byte
param[6+2] = [2nd motor] 2nd Byte
...
param[6+X] = [2nd motor] X-th Byte
And 'length' = ((number_of_params * 1 + data_length) + 4), where:
+1 is for instruction byte,
+1 is for the address byte,
+1 is for the length bytes,
+1 is for the checksum at the end.
"""
data = []
for id_, value in ids_values.items():
split_value = _split_into_byte_chunks(value, data_length)
data += [id_, *split_value]
params = [start_address, data_length, *data]
length = len(ids_values) * (1 + data_length) + 4
return cls.build(
scs_id=scs.BROADCAST_ID, params=params, length=length, instruction=scs.INST_SYNC_WRITE
)
class MockStatusPacket(MockFeetechPacket):
"""
Helper class to build valid Feetech Status Packets.
Status Packet structure
(from https://files.waveshare.com/upload/2/27/Communication_Protocol_User_Manual-EN%28191218-0923%29.pdf)
| Header | Packet ID | Length | Error | Params | Checksum |
| --------- | --------- | ------ | ----- | ----------------- | -------- |
| 0xFF 0xFF | ID | Len | Err | Param 1 … Param N | Sum |
"""
@classmethod
def _build(cls, scs_id: int, params: list[int], length: int, error: int = 0) -> list[int]:
return [
0xFF, 0xFF, # header
scs_id, # servo id
length, # length
error, # status
*params, # data bytes
0x00, # placeholder for checksum
] # fmt: skip
@classmethod
def ping(cls, scs_id: int, error: int = 0) -> bytes:
"""Builds a 'Ping' status packet.
Args:
scs_id (int): ID of the servo responding.
error (int, optional): Error to be returned. Defaults to 0 (success).
Returns:
bytes: The raw 'Ping' status packet ready to be sent through serial.
"""
return cls.build(scs_id, params=[], length=2, error=error)
@classmethod
def read(cls, scs_id: int, value: int, param_length: int, error: int = 0) -> bytes:
"""Builds a 'Read' status packet.
Args:
scs_id (int): ID of the servo responding.
value (int): Desired value to be returned in the packet.
param_length (int): The address length as reported in the control table.
Returns:
bytes: The raw 'Sync Read' status packet ready to be sent through serial.
"""
params = _split_into_byte_chunks(value, param_length)
length = param_length + 2
return cls.build(scs_id, params=params, length=length, error=error)
class MockPortHandler(scs.PortHandler):
"""
This class overwrite the 'setupPort' method of the Feetech PortHandler because it can specify
baudrates that are not supported with a serial port on MacOS.
"""
def setupPort(self, cflag_baud): # noqa: N802
if self.is_open:
self.closePort()
self.ser = serial.Serial(
port=self.port_name,
# baudrate=self.baudrate, <- This will fail on MacOS
# parity = serial.PARITY_ODD,
# stopbits = serial.STOPBITS_TWO,
bytesize=serial.EIGHTBITS,
timeout=0,
)
self.is_open = True
self.ser.reset_input_buffer()
self.tx_time_per_byte = (1000.0 / self.baudrate) * 10.0
return True
def setPacketTimeout(self, packet_length): # noqa: N802
return patch_setPacketTimeout(self, packet_length)
class MockMotors(MockSerial):
"""
This class will simulate physical motors by responding with valid status packets upon receiving some
instruction packets. It is meant to test MotorsBus classes.
"""
def __init__(self):
super().__init__()
@property
def stubs(self) -> dict[str, WaitableStub]:
return super().stubs
def stub(self, *, name=None, **kwargs):
new_stub = WaitableStub(**kwargs)
self._MockSerial__stubs[name or new_stub.receive_bytes] = new_stub
return new_stub
def build_broadcast_ping_stub(self, ids: list[int] | None = None, num_invalid_try: int = 0) -> str:
ping_request = MockInstructionPacket.ping(scs.BROADCAST_ID)
return_packets = b"".join(MockStatusPacket.ping(id_) for id_ in ids)
ping_response = self._build_send_fn(return_packets, num_invalid_try)
stub_name = "Ping_" + "_".join([str(id_) for id_ in ids])
self.stub(
name=stub_name,
receive_bytes=ping_request,
send_fn=ping_response,
)
return stub_name
def build_ping_stub(self, scs_id: int, num_invalid_try: int = 0, error: int = 0) -> str:
ping_request = MockInstructionPacket.ping(scs_id)
return_packet = MockStatusPacket.ping(scs_id, error)
ping_response = self._build_send_fn(return_packet, num_invalid_try)
stub_name = f"Ping_{scs_id}_{error}"
self.stub(
name=stub_name,
receive_bytes=ping_request,
send_fn=ping_response,
)
return stub_name
def build_read_stub(
self,
address: int,
length: int,
scs_id: int,
value: int,
reply: bool = True,
error: int = 0,
num_invalid_try: int = 0,
) -> str:
read_request = MockInstructionPacket.read(scs_id, address, length)
return_packet = MockStatusPacket.read(scs_id, value, length, error) if reply else b""
read_response = self._build_send_fn(return_packet, num_invalid_try)
stub_name = f"Read_{address}_{length}_{scs_id}_{value}_{error}"
self.stub(
name=stub_name,
receive_bytes=read_request,
send_fn=read_response,
)
return stub_name
def build_write_stub(
self,
address: int,
length: int,
scs_id: int,
value: int,
reply: bool = True,
error: int = 0,
num_invalid_try: int = 0,
) -> str:
sync_read_request = MockInstructionPacket.write(scs_id, value, address, length)
return_packet = MockStatusPacket.build(scs_id, params=[], length=2, error=error) if reply else b""
stub_name = f"Write_{address}_{length}_{scs_id}"
self.stub(
name=stub_name,
receive_bytes=sync_read_request,
send_fn=self._build_send_fn(return_packet, num_invalid_try),
)
return stub_name
def build_sync_read_stub(
self,
address: int,
length: int,
ids_values: dict[int, int],
reply: bool = True,
num_invalid_try: int = 0,
) -> str:
sync_read_request = MockInstructionPacket.sync_read(list(ids_values), address, length)
return_packets = (
b"".join(MockStatusPacket.read(id_, pos, length) for id_, pos in ids_values.items())
if reply
else b""
)
sync_read_response = self._build_send_fn(return_packets, num_invalid_try)
stub_name = f"Sync_Read_{address}_{length}_" + "_".join([str(id_) for id_ in ids_values])
self.stub(
name=stub_name,
receive_bytes=sync_read_request,
send_fn=sync_read_response,
)
return stub_name
def build_sequential_sync_read_stub(
self, address: int, length: int, ids_values: dict[int, list[int]] | None = None
) -> str:
sequence_length = len(next(iter(ids_values.values())))
assert all(len(positions) == sequence_length for positions in ids_values.values())
sync_read_request = MockInstructionPacket.sync_read(list(ids_values), address, length)
sequential_packets = []
for count in range(sequence_length):
return_packets = b"".join(
MockStatusPacket.read(id_, positions[count], length) for id_, positions in ids_values.items()
)
sequential_packets.append(return_packets)
sync_read_response = self._build_sequential_send_fn(sequential_packets)
stub_name = f"Seq_Sync_Read_{address}_{length}_" + "_".join([str(id_) for id_ in ids_values])
self.stub(
name=stub_name,
receive_bytes=sync_read_request,
send_fn=sync_read_response,
)
return stub_name
def build_sync_write_stub(
self, address: int, length: int, ids_values: dict[int, int], num_invalid_try: int = 0
) -> str:
sync_read_request = MockInstructionPacket.sync_write(ids_values, address, length)
stub_name = f"Sync_Write_{address}_{length}_" + "_".join([str(id_) for id_ in ids_values])
self.stub(
name=stub_name,
receive_bytes=sync_read_request,
send_fn=self._build_send_fn(b"", num_invalid_try),
)
return stub_name
@staticmethod
def _build_send_fn(packet: bytes, num_invalid_try: int = 0) -> Callable[[int], bytes]:
def send_fn(_call_count: int) -> bytes:
if num_invalid_try >= _call_count:
return b""
return packet
return send_fn
@staticmethod
def _build_sequential_send_fn(packets: list[bytes]) -> Callable[[int], bytes]:
def send_fn(_call_count: int) -> bytes:
return packets[_call_count - 1]
return send_fn
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