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expose more methods #47

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merged 2 commits into from
Nov 11, 2024
Merged

expose more methods #47

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5ce8fed
expose more methods
codekansas Nov 11, 2024
e4f88c1
remove duplicate method
codekansas Nov 11, 2024
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41 changes: 27 additions & 14 deletions actuator/bindings/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -258,6 +258,27 @@ impl PyRobstrideMotorsSupervisor {
Ok(PyRobstrideMotorsSupervisor { inner: controller })
}

fn set_all_params(&self, params: HashMap<u8, PyRobstrideMotorControlParams>) -> PyResult<()> {
let params: HashMap<u8, RobstrideMotorControlParams> = params
.into_iter()
.map(|(k, v)| (k, RobstrideMotorControlParams::from(v)))
.collect();
self.inner.set_all_params(params);
Ok(())
}

fn set_params(&self, motor_id: u8, params: PyRobstrideMotorControlParams) -> PyResult<()> {
self.inner
.set_params(motor_id, RobstrideMotorControlParams::from(params))
.map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
}

fn set_positions(&self, positions: HashMap<u8, f32>) -> PyResult<()> {
self.inner
.set_positions(positions)
.map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
}

fn set_position(&self, motor_id: u8, position: f32) -> PyResult<f32> {
self.inner
.set_position(motor_id, position)
Expand All @@ -270,6 +291,12 @@ impl PyRobstrideMotorsSupervisor {
.map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
}

fn set_velocities(&self, velocities: HashMap<u8, f32>) -> PyResult<()> {
self.inner
.set_velocities(velocities)
.map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
}

fn set_velocity(&self, motor_id: u8, velocity: f32) -> PyResult<f32> {
self.inner
.set_velocity(motor_id, velocity)
Expand Down Expand Up @@ -350,20 +377,6 @@ impl PyRobstrideMotorsSupervisor {
))
}

fn set_params(&self, motor_id: u8, params: &PyRobstrideMotorControlParams) -> PyResult<()> {
self.inner.set_params(
motor_id,
RobstrideMotorControlParams {
position: params.position,
velocity: params.velocity,
kp: params.kp,
kd: params.kd,
torque: params.torque,
},
);
Ok(())
}

#[getter]
fn total_commands(&self) -> PyResult<u64> {
Ok(self.inner.get_total_commands())
Expand Down
41 changes: 35 additions & 6 deletions actuator/robstride/src/supervisor.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -156,14 +156,17 @@ impl MotorsSupervisor {
}

{
// Send PD commands to motors.
let target_params = target_params.read().unwrap();
if !target_params.is_empty() {
match motors.send_motor_controls(&target_params, *serial.read().unwrap()) {
let params_copy = {
let target_params = target_params.read().unwrap();
target_params.clone()
};

if !params_copy.is_empty() {
match motors.send_motor_controls(&params_copy, *serial.read().unwrap()) {
Ok(feedbacks) => {
let mut latest_feedback = latest_feedback.write().unwrap();
let mut failed_commands = failed_commands.write().unwrap();
for &motor_id in target_params.keys() {
for &motor_id in params_copy.keys() {
if let Some(feedback) = feedbacks.get(&motor_id) {
latest_feedback.insert(motor_id, feedback.clone());
} else {
Expand Down Expand Up @@ -236,9 +239,27 @@ impl MotorsSupervisor {
*self.failed_commands.write().unwrap() = HashMap::new();
}

pub fn set_params(&self, motor_id: u8, params: MotorControlParams) {
pub fn set_all_params(&self, params: HashMap<u8, MotorControlParams>) {
let mut target_params = self.target_params.write().unwrap();
*target_params = params;
}

pub fn set_params(
&self,
motor_id: u8,
params: MotorControlParams,
) -> Result<(), std::io::Error> {
let mut target_params = self.target_params.write().unwrap();
target_params.insert(motor_id, params);
Ok(())
}

pub fn set_positions(&self, positions: HashMap<u8, f32>) -> Result<(), std::io::Error> {
let mut target_params = self.target_params.write().unwrap();
for (motor_id, position) in positions {
target_params.get_mut(&motor_id).unwrap().position = position;
}
Ok(())
}

pub fn set_position(&self, motor_id: u8, position: f32) -> Result<f32, std::io::Error> {
Expand Down Expand Up @@ -267,6 +288,14 @@ impl MotorsSupervisor {
})
}

pub fn set_velocities(&self, velocities: HashMap<u8, f32>) -> Result<(), std::io::Error> {
let mut target_params = self.target_params.write().unwrap();
for (motor_id, velocity) in velocities {
target_params.get_mut(&motor_id).unwrap().velocity = velocity;
}
Ok(())
}

pub fn set_velocity(&self, motor_id: u8, velocity: f32) -> Result<f32, std::io::Error> {
let mut target_params = self.target_params.write().unwrap();
if let Some(params) = target_params.get_mut(&motor_id) {
Expand Down
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