From d3deda58557fef8a656d10ad2ddc7ad231069733 Mon Sep 17 00:00:00 2001
From: Iori Yanokura <ab.ioryz@gmail.com>
Date: Mon, 23 Dec 2024 13:56:49 +0900
Subject: [PATCH 1/2] Add get current and temperature function for ics

---
 rcb4/ics.py | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/rcb4/ics.py b/rcb4/ics.py
index 1a1b2901..7267e58d 100644
--- a/rcb4/ics.py
+++ b/rcb4/ics.py
@@ -9,6 +9,9 @@
 import serial.tools.list_ports
 import yaml
 
+from rcb4.rcb4interface import interpolate_currents
+from rcb4.rcb4interface import interpolate_or_extrapolate_temperatures
+
 degree_to_pulse = 29.633
 
 
@@ -199,6 +202,26 @@ def set_servo_id(self, servo_id):
         ret = self.ics.read(5)
         return 0x1F & ret[4]
 
+    def get_current(self, sid=None, interpolate=True):
+        if sid is None:
+            sid = self.get_servo_id()
+        self.ics.write(bytes([0xA0 | (sid & 0x1F), 0x03]))
+        time.sleep(0.05)
+        v = self.ics.read(5)
+        if interpolate:
+            return interpolate_currents(v[4])
+        return v[4]
+
+    def get_temperature(self, sid=None, interpolate=True):
+        if sid is None:
+            sid = self.get_servo_id()
+        self.ics.write(bytes([0xA0 | (sid & 0x1F), 0x04]))
+        time.sleep(0.05)
+        v = self.ics.read(5)
+        if interpolate:
+            return interpolate_or_extrapolate_temperatures(v[4])
+        return v[4]
+
     def set_response(self, value, servo_id=None):
         """
         Set the response parameter to the specified value.

From a4a3ee8fe910eb72ab1ebf01d2daa6caa9fa4467 Mon Sep 17 00:00:00 2001
From: Iori Yanokura <ab.ioryz@gmail.com>
Date: Mon, 23 Dec 2024 14:09:29 +0900
Subject: [PATCH 2/2] Update udev for Dual USB

---
 rcb4/assets/system/99-rcb4-udev.rules | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rcb4/assets/system/99-rcb4-udev.rules b/rcb4/assets/system/99-rcb4-udev.rules
index 75cd279d..20db9aa7 100644
--- a/rcb4/assets/system/99-rcb4-udev.rules
+++ b/rcb4/assets/system/99-rcb4-udev.rules
@@ -1,3 +1,3 @@
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="ftdi-$attr{serial}", MODE="0666"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6015", SYMLINK+="aki-$attr{serial}", MODE="0666"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="165c", ATTRS{idProduct}=="0008", SYMLINK+="rcb4-$attr{serial}", MODE="0666"
+SUBSYSTEM=="usb", ATTR{idVendor}=="165c", ATTR{idProduct}=="0008", RUN+="/sbin/modprobe ftdi-sio", RUN+="/bin/sh -c 'echo 165C 0008 > /sys/bus/usb-serial/drivers/ftdi_sio/new_id'"