refactoring

kscalelabs · Oct 13, 2024 · 7b7559f · 7b7559f
1 parent f2f84ff
commit 7b7559f
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Showing 3 changed files with 205 additions and 128 deletions.
diff --git a/actuator/rust/bindings/bindings.pyi b/actuator/rust/bindings/bindings.pyi
@@ -33,10 +33,10 @@ class PyRobstrideMotors:
     def send_set_zero(self, motor_ids:typing.Optional[typing.Sequence[int]]) -> None:
         ...
 
-    def send_reset(self) -> None:
+    def send_resets(self) -> None:
         ...
 
-    def send_start(self) -> None:
+    def send_starts(self) -> None:
         ...
 
     def send_motor_controls(self, motor_controls:typing.Mapping[int, PyRobstrideMotorControlParams]) -> dict[int, PyRobstrideMotorFeedback]:
@@ -54,31 +54,31 @@ class PyRobstrideMotors:
 
 class PyRobstrideMotorsSupervisor:
     def __new__(cls,port_name,motor_infos,verbose = ...,min_update_rate = ...,target_update_rate = ...): ...
-    def set_position(self, motor_id:int, position:float) -> None:
+    def set_position(self, motor_id:int, position:float) -> float:
         ...
 
     def get_position(self, motor_id:int) -> float:
         ...
 
-    def set_velocity(self, motor_id:int, velocity:float) -> None:
+    def set_velocity(self, motor_id:int, velocity:float) -> float:
         ...
 
     def get_velocity(self, motor_id:int) -> float:
         ...
 
-    def set_kp(self, motor_id:int, kp:float) -> None:
+    def set_kp(self, motor_id:int, kp:float) -> float:
         ...
 
     def get_kp(self, motor_id:int) -> float:
         ...
 
-    def set_kd(self, motor_id:int, kd:float) -> None:
+    def set_kd(self, motor_id:int, kd:float) -> float:
         ...
 
     def get_kd(self, motor_id:int) -> float:
         ...
 
-    def set_torque(self, motor_id:int, torque:float) -> None:
+    def set_torque(self, motor_id:int, torque:float) -> float:
         ...
 
     def get_torque(self, motor_id:int) -> float:
@@ -102,10 +102,10 @@ class PyRobstrideMotorsSupervisor:
     def set_params(self, motor_id:int, params:PyRobstrideMotorControlParams) -> None:
         ...
 
-    def get_total_commands(self) -> int:
+    def get_total_commands(self, motor_id:int) -> int:
         ...
 
-    def get_failed_commands(self) -> int:
+    def get_failed_commands(self, motor_id:int) -> int:
         ...
 
     def reset_command_counters(self) -> None:

diff --git a/actuator/rust/bindings/src/lib.rs b/actuator/rust/bindings/src/lib.rs
@@ -46,19 +46,19 @@ impl PyRobstrideMotors {
 
     fn send_set_zero(&mut self, motor_ids: Option<Vec<u8>>) -> PyResult<()> {
         self.inner
-            .send_set_zero(motor_ids.as_deref())
+            .send_set_zeros(motor_ids.as_deref())
             .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
-    fn send_reset(&mut self) -> PyResult<()> {
+    fn send_resets(&mut self) -> PyResult<()> {
         self.inner
-            .send_reset()
+            .send_resets()
             .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
-    fn send_start(&mut self) -> PyResult<()> {
+    fn send_starts(&mut self) -> PyResult<()> {
         self.inner
-            .send_start()
+            .send_starts()
             .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
@@ -242,9 +242,10 @@ impl PyRobstrideMotorsSupervisor {
         Ok(PyRobstrideMotorsSupervisor { inner: controller })
     }
 
-    fn set_position(&self, motor_id: u8, position: f32) -> PyResult<()> {
-        self.inner.set_position(motor_id, position);
-        Ok(())
+    fn set_position(&self, motor_id: u8, position: f32) -> PyResult<f32> {
+        self.inner
+            .set_position(motor_id, position)
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     fn get_position(&self, motor_id: u8) -> PyResult<f32> {
@@ -253,9 +254,10 @@ impl PyRobstrideMotorsSupervisor {
             .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
-    fn set_velocity(&self, motor_id: u8, velocity: f32) -> PyResult<()> {
-        self.inner.set_velocity(motor_id, velocity);
-        Ok(())
+    fn set_velocity(&self, motor_id: u8, velocity: f32) -> PyResult<f32> {
+        self.inner
+            .set_velocity(motor_id, velocity)
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     fn get_velocity(&self, motor_id: u8) -> PyResult<f32> {
@@ -264,9 +266,10 @@ impl PyRobstrideMotorsSupervisor {
             .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
-    fn set_kp(&self, motor_id: u8, kp: f32) -> PyResult<()> {
-        self.inner.set_kp(motor_id, kp);
-        Ok(())
+    fn set_kp(&self, motor_id: u8, kp: f32) -> PyResult<f32> {
+        self.inner
+            .set_kp(motor_id, kp)
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     fn get_kp(&self, motor_id: u8) -> PyResult<f32> {
@@ -275,9 +278,10 @@ impl PyRobstrideMotorsSupervisor {
             .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
-    fn set_kd(&self, motor_id: u8, kd: f32) -> PyResult<()> {
-        self.inner.set_kd(motor_id, kd);
-        Ok(())
+    fn set_kd(&self, motor_id: u8, kd: f32) -> PyResult<f32> {
+        self.inner
+            .set_kd(motor_id, kd)
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     fn get_kd(&self, motor_id: u8) -> PyResult<f32> {
@@ -286,9 +290,10 @@ impl PyRobstrideMotorsSupervisor {
             .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
-    fn set_torque(&self, motor_id: u8, torque: f32) -> PyResult<()> {
-        self.inner.set_torque(motor_id, torque);
-        Ok(())
+    fn set_torque(&self, motor_id: u8, torque: f32) -> PyResult<f32> {
+        self.inner
+            .set_torque(motor_id, torque)
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     fn get_torque(&self, motor_id: u8) -> PyResult<f32> {
@@ -298,8 +303,9 @@ impl PyRobstrideMotorsSupervisor {
     }
 
     fn add_motor_to_zero(&self, motor_id: u8) -> PyResult<()> {
-        self.inner.add_motor_to_zero(motor_id);
-        Ok(())
+        self.inner
+            .add_motor_to_zero(motor_id)
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     fn get_latest_feedback(&self) -> HashMap<u8, PyRobstrideMotorFeedback> {
@@ -342,12 +348,16 @@ impl PyRobstrideMotorsSupervisor {
         Ok(())
     }
 
-    fn get_total_commands(&self) -> PyResult<u64> {
-        Ok(self.inner.get_total_commands())
+    fn get_total_commands(&self, motor_id: u8) -> PyResult<u64> {
+        self.inner
+            .get_total_commands(motor_id)
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
-    fn get_failed_commands(&self) -> PyResult<u64> {
-        Ok(self.inner.get_failed_commands())
+    fn get_failed_commands(&self, motor_id: u8) -> PyResult<u64> {
+        self.inner
+            .get_failed_commands(motor_id)
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     fn reset_command_counters(&self) -> PyResult<()> {