rustypot 1.4.2

Package to communicate with Dynamixel motors.
Documentation 
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//! Orbita 3Dof Poulpe version

use crate::{generate_reg_write_fb, generate_servo};

/// Wrapper for a value per motor
#[derive(Clone, Copy, Debug)]
#[cfg_attr(feature = "python", derive(pyo3::FromPyObject, pyo3::IntoPyObject))]
pub struct MotorValue<T> {
    pub top: T,
    pub middle: T,
    pub bottom: T,
}

#[cfg(feature = "python")]
impl<T: pyo3_stub_gen::PyStubType> pyo3_stub_gen::PyStubType for MotorValue<T> {
    fn type_output() -> pyo3_stub_gen::TypeInfo {
        pyo3_stub_gen::TypeInfo::list_of::<T>()
    }
}

/// Wrapper for a 3D vector (x, y, z)
#[derive(Clone, Copy, Debug)]
#[cfg_attr(feature = "python", derive(pyo3::FromPyObject, pyo3::IntoPyObject))]
pub struct Vec3d<T> {
    pub x: T,
    pub y: T,
    pub z: T,
}

/// Wrapper for a Position/Speed/Load value for each motor
#[derive(Clone, Copy, Debug)]
#[cfg_attr(feature = "python", derive(pyo3::FromPyObject, pyo3::IntoPyObject))]
pub struct MotorPositionSpeedLoad {
    pub position: MotorValue<f32>,
    // pub speed: MotorValue<f32>,
    // pub load: MotorValue<f32>,
}

/// Wrapper for PID gains.
#[derive(Clone, Copy, Debug, PartialEq)]
#[cfg_attr(feature = "python", gen_stub_pyclass, pyo3::pyclass)]
pub struct Pid {
    pub p: i16,
    pub i: i16,
}

generate_servo!(
    Orbita3dPoulpe, v1,
    reg: (model_number, r, 0, u16, None),
    reg: (firmware_version, r, 6, u8, None),
    reg: (id, rw, 7, u8, None),
    reg: (velocity_limit, rw, 10, MotorValue::<f32>, None),
    reg: (velocity_limit_max, rw, 12, MotorValue::<f32>, None),
    reg: (torque_flux_limit, rw, 14, MotorValue::<f32>, None),
    reg: (torque_flux_limit_max, rw, 16, MotorValue::<f32>, None),
    reg: (uq_ud_limit, rw, 18, MotorValue::<i16>, None),
    reg: (flux_pid, rw, 20, MotorValue::<Pid>, None),
    reg: (torque_pid, rw, 24, MotorValue::<Pid>, None),
    reg: (velocity_pid, rw, 28, MotorValue::<Pid>, None),
    reg: (position_pid, rw, 32, MotorValue::<Pid>, None),
    reg: (torque_enable, rw, 40, MotorValue::<bool>, None),
    reg: (current_position, r, 50, MotorValue::<f32>, None),
    reg: (current_velocity, r, 51, MotorValue::<f32>, None),
    reg: (current_torque, r, 52, MotorValue::<f32>, None),
    // reg: (target_position, rw, 60, MotorValue::<f32>, None),
    // reg: (target_position, fb, 60, MotorValue::<f32>, MotorPositionSpeedLoad, None),
    reg: (board_state, rw, 80, u8, None),
    reg: (axis_sensor, r, 90, MotorValue::<f32>, None),
    reg: (index_sensor, r, 99, MotorValue::<u8>, None),
    reg: (full_state, r, 100, MotorPositionSpeedLoad, None),
);

generate_reg_write_fb!(
    target_position,
    60,
    MotorValue::<f32>,
    MotorPositionSpeedLoad
);

impl MotorPositionSpeedLoad {
    pub fn from_le_bytes(bytes: [u8; 12]) -> Self {
        MotorPositionSpeedLoad {
            position: MotorValue::<f32>::from_le_bytes(bytes[0..12].try_into().unwrap()),
            // speed: MotorValue::<f32>::from_le_bytes(bytes[12..24].try_into().unwrap()),
            // load: MotorValue::<f32>::from_le_bytes(bytes[24..36].try_into().unwrap()),
        }
    }
    // pub fn to_le_bytes(&self) -> [u8; 36] {
    // 	let mut bytes = Vec::new();

    // 	bytes.extend_from_slice(&self.position.to_le_bytes());
    // 	bytes.extend_from_slice(&self.speed.to_le_bytes());
    // 	bytes.extend_from_slice(&self.load.to_le_bytes());

    // 	bytes.try_into().unwrap()
    // }
}

impl<T: PartialEq> PartialEq for MotorValue<T> {
    fn eq(&self, other: &Self) -> bool {
        self.top == other.top && self.middle == other.middle && self.bottom == other.bottom
    }
}

impl MotorValue<f32> {
    pub fn from_le_bytes(bytes: [u8; 12]) -> Self {
        MotorValue {
            top: f32::from_le_bytes(bytes[0..4].try_into().unwrap()),
            middle: f32::from_le_bytes(bytes[4..8].try_into().unwrap()),
            bottom: f32::from_le_bytes(bytes[8..12].try_into().unwrap()),
        }
    }
    pub fn to_le_bytes(&self) -> [u8; 12] {
        let mut bytes = Vec::new();

        bytes.extend_from_slice(&self.top.to_le_bytes());
        bytes.extend_from_slice(&self.middle.to_le_bytes());
        bytes.extend_from_slice(&self.bottom.to_le_bytes());

        bytes.try_into().unwrap()
    }
}

impl MotorValue<u32> {
    pub fn from_le_bytes(bytes: [u8; 12]) -> Self {
        MotorValue {
            top: u32::from_le_bytes(bytes[0..4].try_into().unwrap()),
            middle: u32::from_le_bytes(bytes[4..8].try_into().unwrap()),
            bottom: u32::from_le_bytes(bytes[8..12].try_into().unwrap()),
        }
    }
    pub fn to_le_bytes(&self) -> [u8; 12] {
        let mut bytes = Vec::new();

        bytes.extend_from_slice(&self.top.to_le_bytes());
        bytes.extend_from_slice(&self.middle.to_le_bytes());
        bytes.extend_from_slice(&self.bottom.to_le_bytes());

        bytes.try_into().unwrap()
    }
}

impl MotorValue<i32> {
    pub fn from_le_bytes(bytes: [u8; 12]) -> Self {
        MotorValue {
            top: i32::from_le_bytes(bytes[0..4].try_into().unwrap()),
            middle: i32::from_le_bytes(bytes[4..8].try_into().unwrap()),
            bottom: i32::from_le_bytes(bytes[8..12].try_into().unwrap()),
        }
    }
    pub fn to_le_bytes(&self) -> [u8; 12] {
        let mut bytes = Vec::new();

        bytes.extend_from_slice(&self.top.to_le_bytes());
        bytes.extend_from_slice(&self.middle.to_le_bytes());
        bytes.extend_from_slice(&self.bottom.to_le_bytes());

        bytes.try_into().unwrap()
    }
}

impl MotorValue<i16> {
    pub fn from_le_bytes(bytes: [u8; 6]) -> Self {
        MotorValue {
            top: i16::from_le_bytes(bytes[0..2].try_into().unwrap()),
            middle: i16::from_le_bytes(bytes[2..4].try_into().unwrap()),
            bottom: i16::from_le_bytes(bytes[4..6].try_into().unwrap()),
        }
    }
    pub fn to_le_bytes(&self) -> [u8; 6] {
        let mut bytes = Vec::new();

        bytes.extend_from_slice(&self.top.to_le_bytes());
        bytes.extend_from_slice(&self.middle.to_le_bytes());
        bytes.extend_from_slice(&self.bottom.to_le_bytes());

        bytes.try_into().unwrap()
    }
}

impl MotorValue<u16> {
    pub fn from_le_bytes(bytes: [u8; 6]) -> Self {
        MotorValue {
            top: u16::from_le_bytes(bytes[0..2].try_into().unwrap()),
            middle: u16::from_le_bytes(bytes[2..4].try_into().unwrap()),
            bottom: u16::from_le_bytes(bytes[4..6].try_into().unwrap()),
        }
    }
    pub fn to_le_bytes(&self) -> [u8; 6] {
        let mut bytes = Vec::new();

        bytes.extend_from_slice(&self.top.to_le_bytes());
        bytes.extend_from_slice(&self.middle.to_le_bytes());
        bytes.extend_from_slice(&self.bottom.to_le_bytes());

        bytes.try_into().unwrap()
    }
}

impl MotorValue<bool> {
    pub fn from_le_bytes(bytes: [u8; 3]) -> Self {
        MotorValue {
            top: bytes[0] != 0,
            middle: bytes[1] != 0,
            bottom: bytes[2] != 0,
        }
    }
    pub fn to_le_bytes(&self) -> [u8; 3] {
        let mut bytes = Vec::new();

        bytes.extend_from_slice(&[self.top as u8]);
        bytes.extend_from_slice(&[self.middle as u8]);
        bytes.extend_from_slice(&[self.bottom as u8]);

        bytes.try_into().unwrap()
    }
}

impl MotorValue<u8> {
    pub fn from_le_bytes(bytes: [u8; 3]) -> Self {
        MotorValue {
            top: bytes[0],
            middle: bytes[1],
            bottom: bytes[2],
        }
    }
    pub fn to_le_bytes(&self) -> [u8; 3] {
        let mut bytes = Vec::new();

        bytes.extend_from_slice(&[self.top]);
        bytes.extend_from_slice(&[self.middle]);
        bytes.extend_from_slice(&[self.bottom]);

        bytes.try_into().unwrap()
    }
}

impl MotorValue<Pid> {
    pub fn from_le_bytes(bytes: [u8; 12]) -> Self {
        MotorValue {
            top: Pid::from_le_bytes(bytes[0..4].try_into().unwrap()),
            middle: Pid::from_le_bytes(bytes[4..8].try_into().unwrap()),
            bottom: Pid::from_le_bytes(bytes[8..12].try_into().unwrap()),
        }
    }
    pub fn to_le_bytes(&self) -> [u8; 12] {
        let mut bytes = Vec::new();

        bytes.extend_from_slice(&self.top.to_le_bytes());
        bytes.extend_from_slice(&self.middle.to_le_bytes());
        bytes.extend_from_slice(&self.bottom.to_le_bytes());

        bytes.try_into().unwrap()
    }
}

impl<T: PartialEq> PartialEq for Vec3d<T> {
    fn eq(&self, other: &Self) -> bool {
        self.x == other.x && self.y == other.y && self.z == other.z
    }
}

impl Vec3d<f32> {
    pub fn from_le_bytes(bytes: [u8; 12]) -> Self {
        Vec3d {
            x: f32::from_le_bytes(bytes[0..4].try_into().unwrap()),
            y: f32::from_le_bytes(bytes[4..8].try_into().unwrap()),
            z: f32::from_le_bytes(bytes[8..12].try_into().unwrap()),
        }
    }
    pub fn to_le_bytes(&self) -> [u8; 12] {
        let mut bytes = Vec::new();

        bytes.extend_from_slice(&self.x.to_le_bytes());
        bytes.extend_from_slice(&self.y.to_le_bytes());
        bytes.extend_from_slice(&self.z.to_le_bytes());

        bytes.try_into().unwrap()
    }
}

impl Pid {
    pub fn from_le_bytes(bytes: [u8; 4]) -> Self {
        Pid {
            i: i16::from_le_bytes(bytes[0..2].try_into().unwrap()),
            p: i16::from_le_bytes(bytes[2..4].try_into().unwrap()),
        }
    }
    pub fn to_le_bytes(&self) -> [u8; 4] {
        let mut bytes = Vec::new();

        bytes.extend_from_slice(&self.i.to_le_bytes());
        bytes.extend_from_slice(&self.p.to_le_bytes());

        bytes.try_into().unwrap()
    }
}