Bump 1.4.11 #71
Bump 1.4.11 #71
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…acing in Dynamixel header and source files
…y in Dynamixel source files
…stency in check_model_file_formatting.py
…fy DynamixelInfo class
…ion-aware model file support
…elInfo class methods
… DynamixelInfo class
Enhance Dynamixel model file handling with firmware version support
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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 significantly enhances the dynamixel_hardware_interface by introducing robust support for Dynamixel motors with varying firmware versions. The core change enables the system to automatically load the correct control table definitions based on a motor's firmware, ensuring compatibility and correct operation across different hardware revisions. This is achieved through new firmware-specific model files, updates to existing ones, and a new mechanism for dynamic model file selection. Additionally, a new utility script is provided to maintain the formatting of these model definition files.
Highlights
- Firmware-aware Model Selection: Implemented logic to dynamically select the correct Dynamixel model file based on the detected firmware version of the motor. This addresses cases where control table addresses or other parameters vary between firmware revisions for the same hardware model.
- New Firmware-Specific Model Files: Added specific model files (e.g.,
*_fw52.model) for certain Dynamixel models (XC330, XL330 series) to support different control table layouts found in older firmware versions. - Model File Updates and Corrections: Updated existing base model files for XC330 and XL330 series to reflect changes in indirect data addresses, fixed typos (
Hybrid SavevetoHybrid Save) in YM070/YM080 series models, and expanded error code history entries forym080_230_b001.model. - Model File Formatting Tool: Introduced a new Python script (
scripts/check_model_file_formatting.py) to ensure consistency in.modelfile formatting, checking for trailing spaces, EOF newlines, and excessive empty lines, with an option to auto-fix. - API Enhancements: Added new C++ methods in
dynamixel.hppanddynamixel_info.hppto support reading firmware versions and handling firmware-specific model file loading, including overloads forReadDxlModelFileand new functions likeReadFirmwareVersion,SelectModelFileByFirmwareVersion,ExtractFirmwareVersionFromFilename, andGetModelName.
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Code Review
This pull request introduces support for firmware version-aware model file selection, which is a great enhancement for handling different Dynamixel firmware versions. The changes include updates to the C++ code to read firmware versions and select appropriate model files, new model files for specific firmware, and a new Python script for checking model file formatting.
I've identified a couple of areas for improvement:
- In
src/dynamixel/dynamixel_info.cpp, the logic for selecting the model file can be made more efficient and readable. - The new Python script
scripts/check_model_file_formatting.pyhas a mismatch between its documentation and implementation regarding line ending checks.
Overall, this is a solid contribution. Addressing these points will improve the code's quality and maintainability.
| 1. Trailing spaces on lines | ||
| 2. Proper EOF (End of File) placement | ||
| 3. Consistent line endings |
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The docstring mentions that the script checks for "Consistent line endings", but this functionality is not implemented in the check_file_formatting function. The documentation should be updated to reflect the actual capabilities of the script, or the feature should be implemented.
| for (const auto & fw_file : available_firmware_versions) { | ||
| uint8_t fw_version = ExtractFirmwareVersionFromFilename(fw_file); | ||
| if (fw_version > highest_fw_version) { | ||
| highest_fw_version = fw_version; | ||
| highest_fw_file = fw_file; | ||
| } | ||
| if (fw_version <= firmware_version && | ||
| fw_version > ExtractFirmwareVersionFromFilename(selected_file)) | ||
| { | ||
| selected_file = fw_file; | ||
| } | ||
| } |
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The logic in this loop can be simplified for better readability and efficiency.
- The variable
highest_fw_fileis declared but never used. - The call to
ExtractFirmwareVersionFromFilename(selected_file)inside the loop is inefficient as it re-parses the filename on each iteration.
A better approach would be to store the version of the selected file in a variable and update it along with selected_file.
std::string selected_file = base_model_name; // Default to base model
uint8_t selected_fw_version = 0;
int highest_fw_version = -1;
for (const auto & fw_file : available_firmware_versions) {
uint8_t fw_version = ExtractFirmwareVersionFromFilename(fw_file);
if (fw_version > highest_fw_version) {
highest_fw_version = fw_version;
}
if (fw_version <= firmware_version && fw_version > selected_fw_version) {
selected_file = fw_file;
selected_fw_version = fw_version;
}
}| 156 1 Error Code History 3 | ||
| 157 1 Error Code History 4 | ||
| 158 1 Error Code History 5 | ||
| 159 1 Error Code History 6 | ||
| 160 1 Error Code History 7 | ||
| 161 1 Error Code History 8 | ||
| 162 1 Error Code History 9 | ||
| 163 1 Error Code History 10 | ||
| 164 1 Error Code History 11 | ||
| 165 1 Error Code History 12 | ||
| 166 1 Error Code History 13 | ||
| 167 1 Error Code History 14 |
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The error code history entries are not sequential. It jumps from Error Code History 2 to Error Code History 15. Consider reordering these entries to ensure they are sequential for better readability and maintainability.
| 224 1 Indirect Data 1 | ||
| 168 2 Indirect Address Write | ||
| 208 1 Indirect Data Write | ||
| 224 1 Indirect Data Write | ||
| 180 2 Indirect Address Read | ||
| 214 1 Indirect Data Read | ||
| 230 1 Indirect Data Read |
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The addresses for Indirect Data 1, Indirect Data Write, and Indirect Data Read have been changed from 208, 208, and 214 to 224, 224, and 230 respectively. Ensure that these changes are intentional and align with the updated memory map for the device.
| 224 1 Indirect Data 1 | ||
| 168 2 Indirect Address Write | ||
| 208 1 Indirect Data Write | ||
| 224 1 Indirect Data Write | ||
| 180 2 Indirect Address Read | ||
| 214 1 Indirect Data Read | ||
| 230 1 Indirect Data Read |
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The addresses for Indirect Data 1, Indirect Data Write, and Indirect Data Read have been changed from 208, 208, and 214 to 224, 224, and 230 respectively. Ensure that these changes are intentional and align with the updated memory map for the device.
| 224 1 Indirect Data 1 | ||
| 168 2 Indirect Address Write | ||
| 208 1 Indirect Data Write | ||
| 224 1 Indirect Data Write | ||
| 180 2 Indirect Address Read | ||
| 214 1 Indirect Data Read | ||
| 230 1 Indirect Data Read |
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The addresses for Indirect Data 1, Indirect Data Write, and Indirect Data Read have been changed from 208, 208, and 214 to 224, 224, and 230 respectively. Ensure that these changes are intentional and align with the updated memory map for the device.
| 224 1 Indirect Data 1 | ||
| 168 2 Indirect Address Write | ||
| 208 1 Indirect Data Write | ||
| 224 1 Indirect Data Write | ||
| 180 2 Indirect Address Read | ||
| 214 1 Indirect Data Read | ||
| 230 1 Indirect Data Read |
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The addresses for Indirect Data 1, Indirect Data Write, and Indirect Data Read have been changed from 208, 208, and 214 to 224, 224, and 230 respectively. Ensure that these changes are intentional and align with the updated memory map for the device.
| 224 1 Indirect Data 1 | ||
| 168 2 Indirect Address Write | ||
| 208 1 Indirect Data Write | ||
| 224 1 Indirect Data Write | ||
| 180 2 Indirect Address Read | ||
| 214 1 Indirect Data Read | ||
| 230 1 Indirect Data Read |
There was a problem hiding this comment.
The addresses for Indirect Data 1, Indirect Data Write, and Indirect Data Read have been changed from 208, 208, and 214 to 224, 224, and 230 respectively. Ensure that these changes are intentional and align with the updated memory map for the device.
| 224 1 Indirect Data 1 | ||
| 168 2 Indirect Address Write | ||
| 208 1 Indirect Data Write | ||
| 224 1 Indirect Data Write | ||
| 180 2 Indirect Address Read | ||
| 214 1 Indirect Data Read | ||
| 230 1 Indirect Data Read |
There was a problem hiding this comment.
The addresses for Indirect Data 1, Indirect Data Write, and Indirect Data Read have been changed from 208, 208, and 214 to 224, 224, and 230 respectively. Ensure that these changes are intentional and align with the updated memory map for the device.
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