Add virtual_dxl feaure #47
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…virtual DXL support - Added `comm_id` to `HandlerVarType` for better communication management. - Updated methods to utilize `comm_id` for reading and writing operations. - Introduced handling for virtual DXL components in GPIO initialization and state management. - Improved error handling and logging for GPIO parameter checks. - Updated model files to include new virtual DXL models.
…and model definitions
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Summary of Changes
Hello @Woojin-Crive, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!
This pull request introduces a 'virtual_dxl' feature to the Dynamixel hardware interface, enabling a proxy communication pattern where a single device, identified by a 'communication ID', handles interactions for multiple component IDs. This is particularly aimed at supporting RCU-like devices. The changes involve updating data structures, modifying core communication logic to use the new communication ID, adding new device model definitions, and updating the hardware interface initialization and handling to accommodate the new device type.
Highlights
- Virtual Dynamixel Feature: Introduces the concept of 'virtual_dxl' devices, allowing a single controller (like an RCU) to act as a proxy for communication with multiple Dynamixels. This is facilitated by a new 'communication ID' (
comm_id) concept. - Communication ID Implementation: Adds a
comm_idfield to track which physical device (the proxy) is used for communication with a specific component ID. TheDynamixelclass now maps component IDs to their communication IDs. - New Device Model Files: Adds model definitions for new devices, including an RCU (
ffw_g10_rcu.model) and associated steer/drive units (ffw_sg2_steer_X.model,ffw_sg2_drive_X.model), enabling their use with the hardware interface. - Write Operation Retry Logic: Implements retry logic within the core
WriteItemmethod in theDynamixelclass to improve robustness against communication failures. - Hardware Interface Configuration Updates: Modifies the hardware interface initialization to recognize the new
virtual_dxltype and handle the associatedcomm_idandmodel_numparameters from the configuration.
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Code Review
This pull request introduces the virtual_dxl feature, enabling a communication ID to act as a proxy for one or more Dynamixel motors, primarily for the AI Worker RCU. The changes involve modifications to data structures to accommodate comm_id and id_arr, updates to read/write item setup and processing logic, and new model files for the RCU components.
Overall, the changes are well-integrated to support the new feature. Key improvements include enhanced error messaging and retry mechanisms for write operations.
There are a few areas that need attention:
- Clarification is needed for why
SetOperatingModeandretryWriteItemfunctions were commented out. - A potential data error in one of the new
.modelfiles (ffw_sg2_steer_3.model). - A review of
constcorrectness for a modified function parameter. - Ensuring actual DXL IDs are consistently used for value conversions, especially in bulk write operations.
Addressing these points will further improve the robustness and clarity of the implementation.
include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp
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…y mechanism - Updated the maximum number of retries for communication operations from 10 to 5. - Added a new method `InitTorqueStates` to manage torque states during initialization. - Enhanced error logging for torque state management and communication issues. - Introduced a parameter to disable torque at initialization for improved safety.
- Changed goal_velocity type from int16_t to int32_t for better precision. - Replaced instances of ID with comm_id for improved readability and consistency across the codebase. - Added a check to return early if the write_data_list_ is empty in SetDxlValueToBulkWrite method.
- Added early return checks in ReadMultiDxlData and WriteMultiDxlData methods to handle empty data lists.
…r better readability and consistency
…ecessary operations
Adding communication ID concept for the AI Worker RCU.
virtual_dxl type gpio device uses the controller type device to act like a proxy tunnel for dynamixel communication.