def display_register(intf, dmxlid, reg):
try:
value = intf.read_register(dmxlid, reg)
Register.dump(reg, value)
except RuntimeError as e:
if dmxlid == DynamixelBusInterface.INTERFACE_ID:
pass # all registers are not relevant for interfaces
else:
cli.print_err(str(e))
raise
except Exception as e:
cli.print_err(str(e))
raise
def run_script(args): # pylint: disable=W0621
# process the 'list registers' action which involves no equipment
if args.list:
list_registers()
return
try:
intf_class = USB2AX if args.xevel else USB2Dynamixel
intf = intf_class(
port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
debug=args.debug
)
except Exception as e: # pylint: disable=W0703
cli.die(e)
else:
if args.intf or intf.ping(args.id):
if args.intf:
print('Interface register(s) :')
else:
print('Servo id=%s register(s) :' % args.id)
if args.readall:
# we want to display all registers
intf.dump_regs(args.id)
elif args.read is not None:
# we want to read a specific register
display_register(intf, args.id, args.read)
elif args.write:
# we want to write to a specific register
reg, value = WriteStatement.parse(args.write)
if reg == Register.Id:
print(dedent("""
Warning : Writing to register 0x%0.2x will change the servo id.
Use dmxl_setid.py script for doing this in a secure way.
""") % Register.Id
)
return
write_register(intf, args.id, reg, value)
display_register(intf, args.id, reg)
else:
cli.print_err('no servo found with id=%d' % args.id)
def write_register(intf, dmxlid, reg, value):
try:
intf.write_register(dmxlid, reg, value)
except Exception as e: # pylint: disable=W0703
cli.print_err(str(e))
