adding default arguments to factory_reset, renaming conserve_id to conserve_id_only

Author: apirrone

src/dynamixel_protocol/mod.rs

@@ -137,18 +137,18 @@ impl DynamixelProtocolHandler {
         &self,
         serial_port: &mut dyn serialport::SerialPort,
         id: u8,
-        conserve_id: bool,
+        conserve_id_only: bool,
         conserve_id_and_baudrate: bool,
     ) -> Result<()> {
         match &self.protocol {
             ProtocolKind::V1(p) => {
-                if conserve_id || conserve_id_and_baudrate {
+                if conserve_id_only || conserve_id_and_baudrate {
                     return Err(Box::new(CommunicationErrorKind::Unsupported));
                 }
-                p.factory_reset(serial_port, id, conserve_id, conserve_id_and_baudrate)
+                p.factory_reset(serial_port, id, conserve_id_only, conserve_id_and_baudrate)
             }
             ProtocolKind::V2(p) => {
-                p.factory_reset(serial_port, id, conserve_id, conserve_id_and_baudrate)
+                p.factory_reset(serial_port, id, conserve_id_only, conserve_id_and_baudrate)
             }
         }
     }
@@ -378,12 +378,12 @@ trait Protocol<P: Packet> {
         &self,
         port: &mut dyn SerialPort,
         id: u8,
-        conserve_id: bool,
+        conserve_id_only: bool,
         conserve_id_and_baudrate: bool,
     ) -> Result<()> {
         self.send_instruction_packet(
             port,
-            P::factory_reset_packet(id, conserve_id, conserve_id_and_baudrate).as_ref(),
+            P::factory_reset_packet(id, conserve_id_only, conserve_id_and_baudrate).as_ref(),
         )?;
         self.read_status_packet(port, id).map(|_| ())
     }

src/dynamixel_protocol/packet.rs

@@ -13,7 +13,7 @@ pub trait Packet {
     fn reboot_packet(id: u8) -> Box<dyn InstructionPacket<Self>>;
     fn factory_reset_packet(
         id: u8,
-        conserve_id: bool,
+        conserve_id_only: bool,
         conserve_id_and_baudrate: bool,
     ) -> Box<dyn InstructionPacket<Self>>;
 

src/dynamixel_protocol/v1.rs

@@ -33,7 +33,7 @@ impl Packet for PacketV1 {
 
     fn factory_reset_packet(
         id: u8,
-        _conserve_id: bool,
+        _conserve_id_only: bool,
         _conserve_id_and_baudrate: bool,
     ) -> Box<dyn InstructionPacket<Self>> {
         Box::new(InstructionPacketV1 {

src/dynamixel_protocol/v2.rs

@@ -49,11 +49,11 @@ impl Packet for PacketV2 {
 
     fn factory_reset_packet(
         id: u8,
-        conserve_id: bool,
+        conserve_id_only: bool,
         conserve_id_and_baudrate: bool,
     ) -> Box<dyn InstructionPacket<Self>> {
         // See https://emanual.robotis.com/docs/en/dxl/protocol2/
-        let param = match (conserve_id, conserve_id_and_baudrate) {
+        let param = match (conserve_id_only, conserve_id_and_baudrate) {
             (false, false) => 0xFF,
             (true, false) => 0x01,
             (true, true) => 0x02,

src/servo/servo_macro.rs

@@ -138,12 +138,12 @@ macro_rules! generate_special_instructions {
                 pub fn factory_reset(
                     &mut self,
                     id: u8,
-                    conserve_id: bool,
+                    conserve_id_only: bool,
                     conserve_id_and_baudrate: bool,
                 ) -> $crate::Result<()> {
                     let dph = self.dph.as_ref().unwrap();
                     let serial_port = self.serial_port.as_mut().unwrap().as_mut();
-                    dph.factory_reset(serial_port, id, conserve_id, conserve_id_and_baudrate)
+                    dph.factory_reset(serial_port, id, conserve_id_only, conserve_id_and_baudrate)
                 }
             }
         }
@@ -274,13 +274,18 @@ macro_rules! generate_addr_read_write {
                         .map_err(|e| pyo3::exceptions::PyRuntimeError::new_err(e.to_string()))
                 }
 
+                #[pyo3(signature = (
+                    id,
+                    conserve_id_only = true,
+                    conserve_id_and_baudrate = true
+                ))]
                 pub fn factory_reset(
                     &self,
                     id: u8,
-                    conserve_id: bool,
+                    conserve_id_only: bool,
                     conserve_id_and_baudrate: bool,
                 ) -> PyResult<()> {
-                    self.0.lock().unwrap().factory_reset(id, conserve_id, conserve_id_and_baudrate)
+                    self.0.lock().unwrap().factory_reset(id, conserve_id_only, conserve_id_and_baudrate)
                         .map_err(|e| pyo3::exceptions::PyRuntimeError::new_err(e.to_string()))
                 }
             }