Merge pull request #101 from pollen-robotics/100-add-reboot-message-in-python-binding

Add ping and reboot in bindings.

Author: pierre-rouanet

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rustypot"
-version = "1.2.0"
+version = "1.3.0"
 edition = "2021"
 license = "Apache-2.0"
 authors = ["Pollen Robotics"]

Changelog.md

@@ -1,3 +1,8 @@
+## Version 1.3.0
+
+- Add reboot support in core library.
+- Add ping and reboot support in python bindings.
+
 ## Version 1.2.0
 
 - Add support for AX motors (see https://github.com/pollen-robotics/rustypot/pull/93, thanks to @kacper-uminski)

src/servo/servo_macro.rs

@@ -41,6 +41,7 @@ macro_rules! generate_servo {
         use pyo3_stub_gen::derive::*;
 
         $crate::generate_protocol_constructor!($servo_name, $protocol);
+        $crate::generate_ping_reboot!($servo_name);
         $crate::generate_addr_read_write!($servo_name);
 
         $(
@@ -117,6 +118,27 @@ macro_rules! generate_protocol_constructor {
     };
 }
 
+#[macro_export]
+macro_rules! generate_ping_reboot {
+    ($servo_macro:ident) => {
+        paste::paste! {
+            impl [<$servo_macro:camel Controller>] {
+                pub fn ping(&mut self, id: u8) -> $crate::Result<bool> {
+                    let dph = self.dph.as_ref().unwrap();
+                    let serial_port = self.serial_port.as_mut().unwrap().as_mut();
+                    dph.ping(serial_port, id)
+                }
+
+                pub fn reboot(&mut self, id: u8) -> $crate::Result<bool> {
+                    let dph = self.dph.as_ref().unwrap();
+                    let serial_port = self.serial_port.as_mut().unwrap().as_mut();
+                    dph.reboot(serial_port, id)
+                }
+            }
+        }
+    };
+}
+
 #[macro_export]
 macro_rules! generate_addr_read_write {
     ($servo_name:ident) => {
@@ -230,6 +252,16 @@ macro_rules! generate_addr_read_write {
                         .map_err(|e| pyo3::exceptions::PyRuntimeError::new_err(e.to_string()))?;
                     Ok(())
                 }
+
+                pub fn ping(&self, id: u8) -> PyResult<bool> {
+                    self.0.lock().unwrap().ping(id)
+                        .map_err(|e| pyo3::exceptions::PyRuntimeError::new_err(e.to_string()))
+                }
+
+                pub fn reboot(&self, id: u8) -> PyResult<bool> {
+                    self.0.lock().unwrap().reboot(id)
+                        .map_err(|e| pyo3::exceptions::PyRuntimeError::new_err(e.to_string()))
+                }
             }
         }
     };