def display_register(intf, dmxlid, reg):
try:
value = intf.read_register(dmxlid, reg)
dmxl.Register.dump(reg, value)
except RuntimeError as e:
if dmxlid == dmxl.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 main(args): #pylint: disable=W0621
# process the 'list registers' action which invovles no equipment
if args.list:
list_registers()
return
try:
intf = dmxl.DynamixelBusInterface(
port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
debug=args.debug
)
except Exception as e: #pylint: disable=W0703
cli.die(e)
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 != 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 == dmxl.Register.Id:
print( '''
Warning : Writing to register 0x%0.2x will change the servo id.
Use dmxl_setid.py script for doing this in a secure way.
''' % dmxl.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 main(args):
try:
intf = dmxl.DynamixelBusInterface(port=args.port,
baudrate=args.baudrate, timeout=args.timeout)
except Exception as e:
cli.die(e)
if not args.force:
print('Scanning bus on %s to find connected servos...' % args.port)
nb_servos = len(intf.scan())
if nb_servos == 0:
cli.print_err('no servo found on the bus')
return 1
if nb_servos > 1:
cli.print_err('only ONE servo must be connected to the bus (%d servos found)' % nb_servos)
return 1
intf.write_register(dmxl.DynamixelBusInterface.BROADCASTING_ID, dmxl.Register.Id, args.newid)
print("Servo id changed to %d." % args.newid)
return 0
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))
