Update servo_macro.rs

Author: pierre-rouanet

src/servo/servo_macro.rs

@@ -243,6 +243,18 @@ macro_rules! generate_reg_read {
         }
 
         impl [<$servo_name:camel Controller>] {
+            #[doc = concat!("Read raw register *", stringify!($name), "* (addr: ", stringify!($addr), ", type: ", stringify!(<$conv as Conversion>::UsiType), ")")]
+            pub fn [<read_raw_ $reg_name>](
+                &mut self,
+                ids: &[u8],
+            ) -> $crate::Result<Vec<$reg_type>> {
+                [<sync_read_raw_ $reg_name>](
+                    self.dph.as_ref().unwrap(),
+                    self.serial_port.as_mut().unwrap().as_mut(),
+                    ids,
+                )
+            }
+
             #[doc = concat!("Read register *", stringify!($name), "* (addr: ", stringify!($addr), ", type: ", stringify!($reg_type), ")")]
             pub fn [<read_ $reg_name>](
                 &mut self,
@@ -259,6 +271,20 @@ macro_rules! generate_reg_read {
         #[cfg(feature = "python")]
         #[pymethods]
         impl [<$servo_name:camel SyncController>] {
+            #[doc = concat!("Read raw register *", stringify!($name), "* (addr: ", stringify!($addr), ", type: ", stringify!($reg_type), ")")]
+            pub fn [<read_raw_ $reg_name>](
+                &self,
+                py: Python,
+                ids: &Bound<'_, pyo3::types::PyList>,
+            ) -> PyResult<PyObject> {
+                let ids = ids.extract::<Vec<u8>>()?;
+
+                let x = self.0.lock().unwrap().[<read_raw_ $reg_name>](&ids)
+                    .map_err(|e| pyo3::exceptions::PyRuntimeError::new_err(e.to_string()))?;
+                let l = pyo3::types::PyList::new(py, x.clone())?;
+                Ok(l.into())
+            }
+
             #[doc = concat!("Read register *", stringify!($name), "* (addr: ", stringify!($addr), ", type: ", stringify!($reg_type), ")")]
             pub fn [<read_ $reg_name>](
                 &self,
@@ -400,6 +426,20 @@ macro_rules! generate_reg_write {
         }
 
         impl [<$servo_name:camel Controller>] {
+            #[doc = concat!("Write raw register *", stringify!($name), "* (addr: ", stringify!($addr), ", type: ", stringify!($reg_type), ")")]
+            pub fn [<write_raw_ $reg_name>](
+                &mut self,
+                ids: &[u8],
+                values: &[$reg_type],
+            ) -> $crate::Result<()> {
+                [<sync_write_raw_ $reg_name>](
+                    self.dph.as_ref().unwrap(),
+                    self.serial_port.as_mut().unwrap().as_mut(),
+                    ids,
+                    values,
+                )
+            }
+
             #[doc = concat!("Write register *", stringify!($name), "* (addr: ", stringify!($addr), ", type: ", stringify!(<$conv as Conversion>::UsiType), ")")]
             pub fn [<write_ $reg_name>](
                 &mut self,
@@ -418,6 +458,20 @@ macro_rules! generate_reg_write {
         #[cfg(feature = "python")]
         #[pymethods]
         impl [<$servo_name:camel SyncController>] {
+            #[doc = concat!("Write raw register *", stringify!($name), "* (addr: ", stringify!($addr), ", type: ", stringify!($reg_type), ")")]
+            pub fn [<write_raw_ $reg_name>](
+                &self,
+                ids: Bound<'_, pyo3::types::PyList>,
+                values: Bound<'_, pyo3::types::PyList>,
+            ) -> PyResult<()> {
+                let ids = ids.extract::<Vec<u8>>()?;
+                let values = values.extract::<Vec<$reg_type>>()?;
+
+                self.0.lock().unwrap().[<write_raw_ $reg_name>](&ids, &values).map_err(|e| {
+                    pyo3::exceptions::PyRuntimeError::new_err(e.to_string())
+                })
+            }
+
             #[doc = concat!("Write register *", stringify!($name), "* (addr: ", stringify!($addr), ", type: ", stringify!($reg_type), ")")]
             pub fn [<write_ $reg_name>](
                 &self,