More debugging (#21)

* more debugging

* more debugging

* fixed some issues

* fix types

actuator/rust/bindings/bindings.pyi

@@ -26,7 +26,7 @@ class PyRobstrideMotorFeedback:
 
 
 class PyRobstrideMotors:
-    def __new__(cls,port_name:str, motor_infos:typing.Mapping[int, str]): ...
+    def __new__(cls,port_name,motor_infos,verbose = ...): ...
     def send_get_mode(self) -> dict[int, str]:
         ...
 
@@ -53,7 +53,7 @@ class PyRobstrideMotors:
 
 
 class PyRobstrideMotorsSupervisor:
-    def __new__(cls,port_name:str, motor_infos:typing.Mapping[int, str]): ...
+    def __new__(cls,port_name:str, motor_infos:typing.Mapping[int, str], verbose:bool): ...
     def set_position(self, motor_id:int, position:float) -> None:
         ...
 

actuator/rust/bindings/src/lib.rs

@@ -9,6 +9,7 @@ use robstride::{
 };
 use std::collections::HashMap;
 use std::time::Duration;
+
 #[gen_stub_pyclass]
 #[pyclass]
 struct PyRobstrideMotors {
@@ -19,7 +20,8 @@ struct PyRobstrideMotors {
 #[pymethods]
 impl PyRobstrideMotors {
     #[new]
-    fn new(port_name: String, motor_infos: HashMap<u8, String>) -> PyResult<Self> {
+    #[pyo3(signature = (port_name, motor_infos, verbose = false))]
+    fn new(port_name: String, motor_infos: HashMap<u8, String>, verbose: bool) -> PyResult<Self> {
         let motor_infos = motor_infos
             .into_iter()
             .map(|(id, type_str)| {
@@ -28,7 +30,7 @@ impl PyRobstrideMotors {
             })
             .collect::<PyResult<HashMap<u8, RobstrideMotorType>>>()?;
 
-        let motors = RobstrideMotors::new(&port_name, &motor_infos)
+        let motors = RobstrideMotors::new(&port_name, &motor_infos, verbose)
             .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))?;
 
         Ok(PyRobstrideMotors { inner: motors })
@@ -225,7 +227,7 @@ struct PyRobstrideMotorsSupervisor {
 #[pymethods]
 impl PyRobstrideMotorsSupervisor {
     #[new]
-    fn new(port_name: String, motor_infos: HashMap<u8, String>) -> PyResult<Self> {
+    fn new(port_name: String, motor_infos: HashMap<u8, String>, verbose: bool) -> PyResult<Self> {
         let motor_infos = motor_infos
             .into_iter()
             .map(|(id, type_str)| {
@@ -234,7 +236,7 @@ impl PyRobstrideMotorsSupervisor {
             })
             .collect::<PyResult<HashMap<u8, RobstrideMotorType>>>()?;
 
-        let controller = RobstrideMotorsSupervisor::new(&port_name, &motor_infos)
+        let controller = RobstrideMotorsSupervisor::new(&port_name, &motor_infos, verbose)
             .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))?;
 
         Ok(PyRobstrideMotorsSupervisor { inner: controller })

actuator/rust/robstride/Cargo.toml

@@ -17,3 +17,4 @@ serialport = "4.5.1"
 ctrlc = "3.4.5"
 lazy_static = "1.4.0"
 spin_sleep = "1.2.1"
+clap = { version = "4.3", features = ["derive"] }

actuator/rust/robstride/src/bin/supervisor.rs

@@ -1,8 +1,18 @@
+use clap::Parser;
 use robstride::{motor_type_from_str, MotorType, MotorsSupervisor};
 use std::collections::HashMap;
 use std::io::{self, Write};
 
+#[derive(Parser, Debug)]
+#[command(author, version, about, long_about = None)]
+struct Args {
+    #[arg(short, long, help = "Enable verbose output")]
+    verbose: bool,
+}
+
 fn main() -> Result<(), Box<dyn std::error::Error>> {
+    let args = Args::parse();
+
     print!("Enter the TEST_ID (u8): ");
     io::stdout().flush()?;
     let mut input = String::new();
@@ -32,7 +42,7 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
     };
     let motor_type = motor_type_from_str(motor_type_input.as_str())?;
     let motor_infos: HashMap<u8, MotorType> = HashMap::from([(test_id, motor_type)]);
-    let controller = MotorsSupervisor::new(&port_name, &motor_infos)?;
+    let controller = MotorsSupervisor::new(&port_name, &motor_infos, args.verbose)?;
 
     println!("Motor Controller Test CLI");
     println!("Available commands:");
@@ -44,6 +54,7 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
     println!("  zero / z");
     println!("  get_feedback / g");
     println!("  pause / w");
+    println!("  reset / r");
     println!("  quit / q");
 
     loop {
@@ -116,6 +127,10 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
                 controller.toggle_pause();
                 println!("Toggled pause state");
             }
+            "reset" | "r" => {
+                controller.reset();
+                println!("Reset motors");
+            }
             "quit" | "q" => {
                 controller.stop();
                 println!("Exiting...");