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Merge pull request #79 from pollen-robotics/next-release-1.0
## version 1.0.0 - Cleanup APIs to offer two interfaces: - high-level interface (Controller) with a simple API for the most common use cases. - low-level interface (DynamixelProtocolHandler) for direct access to the protocol and fine-grained control of the bus ownership. - Add Python bindings for the library (controller API). - Add support for the feetech servo. - Define register conversion at the macro level to simplify the code.
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‎.github/workflows/python-upload.yml‎

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# This file is autogenerated by maturin v1.8.2
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# To update, run
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#
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# maturin generate-ci github
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#
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name: python-bindings-upload-ci
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on:
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push:
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branches:
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- main
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- master
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tags:
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- '*'
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pull_request:
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workflow_dispatch:
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permissions:
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contents: read
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jobs:
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linux:
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runs-on: ${{ matrix.platform.runner }}
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strategy:
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matrix:
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platform:
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- runner: ubuntu-22.04
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target: x86_64
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- runner: ubuntu-22.04
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target: x86
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- runner: ubuntu-22.04
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target: aarch64
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- runner: ubuntu-22.04
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target: armv7
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: 3.x
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- name: Build wheels
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uses: PyO3/maturin-action@v1
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with:
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target: ${{ matrix.platform.target }}
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args: --release --features python --out dist --find-interpreter
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sccache: ${{ !startsWith(github.ref, 'refs/tags/') }}
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manylinux: auto
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- name: Upload wheels
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uses: actions/upload-artifact@v4
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with:
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name: wheels-linux-${{ matrix.platform.target }}
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path: dist
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musllinux:
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runs-on: ${{ matrix.platform.runner }}
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strategy:
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matrix:
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platform:
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- runner: ubuntu-22.04
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target: x86_64
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- runner: ubuntu-22.04
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target: x86
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- runner: ubuntu-22.04
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target: aarch64
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- runner: ubuntu-22.04
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target: armv7
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: 3.x
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- name: Build wheels
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uses: PyO3/maturin-action@v1
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with:
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target: ${{ matrix.platform.target }}
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args: --release --features python --out dist --find-interpreter
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sccache: ${{ !startsWith(github.ref, 'refs/tags/') }}
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manylinux: musllinux_1_2
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- name: Upload wheels
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uses: actions/upload-artifact@v4
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with:
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name: wheels-musllinux-${{ matrix.platform.target }}
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path: dist
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windows:
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runs-on: ${{ matrix.platform.runner }}
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strategy:
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matrix:
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platform:
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- runner: windows-latest
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target: x64
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- runner: windows-latest
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target: x86
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: 3.x
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architecture: ${{ matrix.platform.target }}
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- name: Build wheels
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uses: PyO3/maturin-action@v1
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with:
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target: ${{ matrix.platform.target }}
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args: --release --features python --out dist --find-interpreter
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sccache: ${{ !startsWith(github.ref, 'refs/tags/') }}
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- name: Upload wheels
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uses: actions/upload-artifact@v4
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with:
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name: wheels-windows-${{ matrix.platform.target }}
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path: dist
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macos:
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runs-on: ${{ matrix.platform.runner }}
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strategy:
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matrix:
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platform:
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- runner: macos-13
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target: x86_64
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- runner: macos-14
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target: aarch64
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: 3.x
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- name: Build wheels
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uses: PyO3/maturin-action@v1
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with:
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target: ${{ matrix.platform.target }}
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args: --release --features python --out dist --find-interpreter
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sccache: ${{ !startsWith(github.ref, 'refs/tags/') }}
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- name: Upload wheels
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uses: actions/upload-artifact@v4
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with:
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name: wheels-macos-${{ matrix.platform.target }}
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path: dist
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sdist:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Build sdist
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uses: PyO3/maturin-action@v1
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with:
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command: sdist
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args: --out dist
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- name: Upload sdist
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uses: actions/upload-artifact@v4
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with:
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name: wheels-sdist
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path: dist
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release:
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name: Release
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runs-on: ubuntu-latest
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if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }}
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needs: [linux, musllinux, windows, macos, sdist]
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permissions:
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# Use to sign the release artifacts
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id-token: write
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# Used to upload release artifacts
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contents: write
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# Used to generate artifact attestation
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attestations: write
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steps:
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- uses: actions/download-artifact@v4
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- name: Generate artifact attestation
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uses: actions/attest-build-provenance@v1
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with:
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subject-path: 'wheels-*/*'
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- name: Publish to PyPI
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if: ${{ startsWith(github.ref, 'refs/tags/') }}
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uses: PyO3/maturin-action@v1
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env:
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MATURIN_PYPI_TOKEN: ${{ secrets.PYPI_API_TOKEN }}
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with:
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command: upload
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args: --non-interactive --skip-existing wheels-*/*

‎.github/workflows/python.yml‎

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# This file is autogenerated by maturin v1.8.2
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# To update, run
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#
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# maturin generate-ci github
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#
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name: python-bindings-build-ci
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on: [pull_request]
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permissions:
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contents: read
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jobs:
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linux:
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runs-on: ${{ matrix.platform.runner }}
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strategy:
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matrix:
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platform:
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- runner: ubuntu-22.04
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target: x86_64
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- runner: ubuntu-22.04
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target: x86
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- runner: ubuntu-22.04
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target: aarch64
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- runner: ubuntu-22.04
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target: armv7
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: 3.x
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- name: Build wheels
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uses: PyO3/maturin-action@v1
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with:
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target: ${{ matrix.platform.target }}
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args: --release --features python --out dist --find-interpreter
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sccache: ${{ !startsWith(github.ref, 'refs/tags/') }}
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manylinux: auto
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musllinux:
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runs-on: ${{ matrix.platform.runner }}
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strategy:
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matrix:
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platform:
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- runner: ubuntu-22.04
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target: x86_64
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- runner: ubuntu-22.04
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target: x86
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- runner: ubuntu-22.04
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target: aarch64
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- runner: ubuntu-22.04
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target: armv7
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: 3.x
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- name: Build wheels
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uses: PyO3/maturin-action@v1
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with:
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target: ${{ matrix.platform.target }}
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args: --release --features python --out dist --find-interpreter
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sccache: ${{ !startsWith(github.ref, 'refs/tags/') }}
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manylinux: musllinux_1_2
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windows:
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runs-on: ${{ matrix.platform.runner }}
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strategy:
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matrix:
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platform:
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- runner: windows-latest
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target: x64
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- runner: windows-latest
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target: x86
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: 3.x
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architecture: ${{ matrix.platform.target }}
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- name: Build wheels
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uses: PyO3/maturin-action@v1
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with:
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target: ${{ matrix.platform.target }}
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args: --release --features python --out dist --find-interpreter
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sccache: ${{ !startsWith(github.ref, 'refs/tags/') }}
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macos:
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runs-on: ${{ matrix.platform.runner }}
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strategy:
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matrix:
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platform:
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- runner: macos-13
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target: x86_64
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- runner: macos-14
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target: aarch64
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: 3.x
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- name: Build wheels
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uses: PyO3/maturin-action@v1
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with:
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target: ${{ matrix.platform.target }}
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args: --release --features python --out dist --find-interpreter
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sccache: ${{ !startsWith(github.ref, 'refs/tags/') }}
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sdist:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Build sdist
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uses: PyO3/maturin-action@v1
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with:
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command: sdist
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args: --out dist

‎.gitignore‎

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/target
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/Cargo.lock
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__pycache__

‎Cargo.toml‎

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[package]
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name = "rustypot"
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version = "0.6.0"
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version = "1.0.0"
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edition = "2021"
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license = "Apache-2.0"
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authors = ["Pollen Robotics"]
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description = "Package to communicate with Dynamixel motors."
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homepage = "https://www.pollen-robotics.com"
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repository = "https://github.com/pollen-robotics/rustypot"
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readme = "README.md"
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keywords = ["robotics", "dynamixel"]
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keywords = ["robotics", "dynamixel", "feetech"]
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categories = ["science::robotics"]
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autoexamples = false #disable auto discovery of examples
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[lib]
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crate-type = ["lib", "cdylib"]
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[features]
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default = []
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python = ["dep:pyo3", "dep:pyo3-log"]
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# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
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[dependencies]
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log = "0.4.17"
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paste = "1.0.10"
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serialport = "4.2.0"
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serialport = { version = "4.2.0", default-features = false}
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clap = { version = "4.0.32", features = ["derive"] }
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proc-macro2 = { version = "1.0", features=["default", "proc-macro"] }
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signal-hook = "0.3.4"
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num_enum = "0.7.3"
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pyo3 = { version = "0.24.1", optional = true, features = ["multiple-pymethods", "extension-module"] }
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pyo3-log = { version = "0.12.3", optional = true }
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[dev-dependencies]
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env_logger = "0.10.0"

‎Changelog.md‎

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## version 1.0.0
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- Cleanup APIs to offer two interfaces:
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- high-level interface (Controller) with a simple API for the most common use cases.
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- low-level interface (DynamixelProtocolHandler) for direct access to the protocol and fine-grained control of the bus ownership.
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- Add Python bindings for the library (controller API).
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- Add support for the feetech servo.
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- Define register conversion at the macro level to simplify the code.
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## Version 0.6.0
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- Add dxl XL330 support

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