Fixing + new features on motors scan and ping

reachy_mini_testbench/main.py

@@ -42,7 +42,7 @@ psutil.cpu_percent(interval=None)
 from rustypot import Xl330PyController
 from reachy_mini.daemon.utils import find_serial_port
 from reachy_mini.utils.hardware_config.parser import parse_yaml_config
-from reachy_mini.tools.setup_motor import setup_motor, check_configuration
+from reachy_mini.tools.setup_motor import setup_motor, check_configuration, SERIAL_TIMEOUT, XL_BAUDRATE_CONV_TABLE, COMMANDS_BITS_LENGTH
 from importlib.resources import files
 import reachy_mini as reachy_mini_package
 
@@ -947,7 +947,7 @@ async def scan_motors(baudrate: int = 1000000):
         raise HTTPException(503, "No serial port detected")
 
     try:
-        controller = Xl330PyController(port, baudrate, 0.01)
+        controller = Xl330PyController(port, baudrate, SERIAL_TIMEOUT + float(COMMANDS_BITS_LENGTH["Ping"])/baudrate)
         found_motors = []
 
         config = get_hardware_config()
@@ -986,7 +986,7 @@ async def scan_baudrates():
         raise HTTPException(503, "No serial port detected")
 
     # Common baudrates used by Dynamixel motors
-    baudrates = [9600, 57600, 115200, 1000000]
+    baudrates = list(XL_BAUDRATE_CONV_TABLE.keys())
 
     config = get_hardware_config()
     id_to_name = {m.id: name for name, m in config.motors.items()}
@@ -996,7 +996,7 @@ async def scan_baudrates():
     for baudrate in baudrates:
         controller = None
         try:
-            controller = Xl330PyController(port, baudrate, 0.01)
+            controller = Xl330PyController(port, baudrate, SERIAL_TIMEOUT + float(COMMANDS_BITS_LENGTH["Ping"])/baudrate)
             found_motors = []
 
             # Scan all possible IDs (0-254)
@@ -1031,10 +1031,11 @@ async def scan_baudrates():
                     pass
             # Small delay to ensure port is fully released
             import time
-            time.sleep(0.1)
+            time.sleep(SERIAL_TIMEOUT)
 
     total_motors_found = sum(r["motors_found"] for r in results)
-
+    logger.info(f"Total motors found: {total_motors_found}")
+    logger.info(f"Results: {results}")
     return {
         "port": port,
         "variant": variant,
@@ -1053,7 +1054,7 @@ async def lookup_motor(req: MotorLookupRequest):
         raise HTTPException(503, "No serial port detected")
 
     try:
-        controller = Xl330PyController(port, req.baudrate, 0.01)
+        controller = Xl330PyController(port, req.baudrate, SERIAL_TIMEOUT + float(COMMANDS_BITS_LENGTH["Ping"])/req.baudrate)
         found = controller.ping(req.motor_id)
 
         config = get_hardware_config()
@@ -1078,7 +1079,7 @@ async def check_all_motors(baudrate: int = 1000000):
         raise HTTPException(503, "No serial port detected")
 
     try:
-        controller = Xl330PyController(port, baudrate, 0.01)
+        controller = Xl330PyController(port, baudrate, SERIAL_TIMEOUT + float(COMMANDS_BITS_LENGTH["Ping"])/baudrate)
         config = get_hardware_config()
 
         results = []
@@ -1183,7 +1184,7 @@ async def control_motor_led(req: MotorLedRequest):
         raise HTTPException(503, "No serial port detected")
 
     try:
-        controller = Xl330PyController(port, 1000000, 0.01)
+        controller = Xl330PyController(port, 1000000, SERIAL_TIMEOUT + float(COMMANDS_BITS_LENGTH["Write"])/1000000)
         controller.write_led(req.motor_id, 1 if req.state else 0)
         return {
             "motor_id": req.motor_id,

reachy_mini_testbench/static/index.html

@@ -246,9 +246,6 @@
 
                 <div class="control-group">
                     <h3>Motor Reflash</h3>
-                    <p class="panel-description warning-text">
-                        <strong>⚠️ Warning:</strong> Connect ONLY ONE motor before reflashing to avoid conflicts!
-                    </p>
                     <div class="reflash-controls">
                         <div class="reflash-input-row">
                             <label>From ID:

reachy_mini_testbench/static/main.js

@@ -618,6 +618,27 @@ async function lookupMotor() {
             resultSpan.textContent = `Found: ${data.name}`;
             resultSpan.className = 'lookup-result found';
             showToast(`Motor ${motorId} (${data.name}) responding`, 'success');
+            
+            // Blink LED multiple times for 2 seconds
+            try {
+                const blinkCount = 10; // 10 blinks over 2 seconds
+                for (let i = 0; i < blinkCount; i++) {
+                    // Turn LED on
+                    await apiCall('/api/motors/led', {
+                        method: 'POST',
+                        body: JSON.stringify({ motor_id: motorId, state: true })
+                    });
+                    await new Promise(resolve => setTimeout(resolve, 100));
+                    // Turn LED off
+                    await apiCall('/api/motors/led', {
+                        method: 'POST',
+                        body: JSON.stringify({ motor_id: motorId, state: false })
+                    });
+                    await new Promise(resolve => setTimeout(resolve, 100));
+                }
+            } catch (error) {
+                console.error('LED control failed:', error);
+            }
         } else {
             resultSpan.textContent = 'Not found';
             resultSpan.className = 'lookup-result not-found';
@@ -740,7 +761,7 @@ async function reflashMotor() {
     }
 
     // Confirm before reflashing
-    if (!confirm(`⚠️ CONFIRM REFLASH\n\nThis will reconfigure the motor:\n\nFrom: ID ${fromId} @ ${fromBaudrate}\nTo: ${targetPreset}\n\nMake sure ONLY ONE motor is connected!\n\nProceed?`)) {
+    if (!confirm(`⚠️ CONFIRM REFLASH\n\nThis will reconfigure the motor:\n\nFrom: ID ${fromId} @ ${fromBaudrate}\nTo: ${targetPreset}\n\nProceed?`)) {
         return;
     }
 
@@ -771,6 +792,69 @@ async function reflashMotor() {
                 </div>
             `;
             showToast('Motor successfully reflashed!', 'success');
+            
+            // AUTO-REFRESH: Update baudrate scanner display
+            const baudrateResults = document.getElementById('baudrate-results');
+            if (baudrateResults && !baudrateResults.classList.contains('hidden')) {
+                const listDiv = document.getElementById('baudrate-list');
+                if (!listDiv) return;
+                
+                const baudrateItems = listDiv.querySelectorAll('.baudrate-item');
+                
+                // Remove motor from old location and add to new location
+                baudrateItems.forEach(item => {
+                    const baudrateValue = item.querySelector('.baudrate-value');
+                    const baudrate = parseInt(baudrateValue.textContent.trim());
+                    
+                    if (baudrate === data.from.baudrate) {
+                        // Remove motor from old baudrate
+                        const motorsDiv = item.querySelector('.baudrate-motors');
+                        const motorItems = motorsDiv.querySelectorAll('.baudrate-motor-item');
+                        motorItems.forEach(motorItem => {
+                            const motorId = motorItem.querySelector('.baudrate-motor-id');
+                            if (motorId && motorId.textContent.includes(`ID ${data.from.id}`)) {
+                                motorItem.remove();
+                            }
+                        });
+                        
+                        // Update count and status
+                        const remaining = motorsDiv.querySelectorAll('.baudrate-motor-item').length;
+                        if (remaining === 0) {
+                            item.className = 'baudrate-item no-motors';
+                            motorsDiv.innerHTML = '<span class="no-motors-text">No motors found</span>';
+                            item.querySelector('.baudrate-count').textContent = '0 motor(s)';
+                        } else {
+                            item.querySelector('.baudrate-count').textContent = `${remaining} motor(s)`;
+                        }
+                    }
+                    
+                    if (baudrate === data.to.baudrate) {
+                        // Add motor to new baudrate
+                        const motorsDiv = item.querySelector('.baudrate-motors');
+                        const existingMotor = Array.from(motorsDiv.querySelectorAll('.baudrate-motor-id'))
+                            .find(el => el.textContent.includes(`ID ${data.to.id}`));
+                        
+                        if (!existingMotor) {
+                            const noMotorsText = motorsDiv.querySelector('.no-motors-text');
+                            if (noMotorsText) {
+                                motorsDiv.innerHTML = '';
+                            }
+                            
+                            const motorItem = document.createElement('div');
+                            motorItem.className = 'baudrate-motor-item';
+                            motorItem.innerHTML = `
+                                <span class="baudrate-motor-id" title="${data.to.name}">ID ${data.to.id}</span>
+                                <button class="btn-mini btn-warning" onclick="prefillReflash(${data.to.id}, ${data.to.baudrate})">Reflash</button>
+                            `;
+                            motorsDiv.appendChild(motorItem);
+                            
+                            item.className = 'baudrate-item has-motors';
+                            const count = motorsDiv.querySelectorAll('.baudrate-motor-item').length;
+                            item.querySelector('.baudrate-count').textContent = `${count} motor(s)`;
+                        }
+                    }
+                });
+            }
         } else if (data.success && !data.verified) {
             resultDiv.className = 'reflash-result warning';
             resultDiv.innerHTML = `