Easy sdk python update and improvement of cpp easy sdk #669

GyuH13 · 2025-11-17T04:56:35Z

Easy SDK Python is updated.

File added

connector.py:
The connector class handles communication and acts as a factory that creates Motor and GroupExecutor objects.

control_table.py:
The control table class is responsible for parsing the control table file.

data_types.py:
This module includes all data type classes such as enums and data classes.

dynamixel_error.py:
Defines custom exception types for Dynamixel (DXL).

group_executor.py:
It manages sync and bulk commands and executes them.

motor.py:
The Motor class represents a Dynamixel actuator and maps directly to a physical DXL device.

Feature

The control table file is now included in the package so that it is installed in the user’s environment when the package is distributed via PyPI (installed through pip).
All errors are now handled through Python-style exception handling for a more pythonic design.

CPP improvement

Added and applied internal functions writeData and readData

Simplified code structure
Enable to support for 1-byte and 2-byte based models

Added data_types.hpp and removed stagedcommand.hpp

Consolidated all data types into a single header

Renamed error enum
EASY_SDK_MOTOR_TORQUE_OFF → EASY_SDK_TORQUE_STATUS_MISMATCH
Updated group control logic to raise errors based on status conditions

Added functions to read Current and PWM values

Changed the return type of getOperatingMode:
uint8_t → OperatingMode enum value

Signed-off-by: Hyungyu Kim <[email protected]>

gemini-code-assist · 2025-11-17T04:57:48Z

Summary of Changes

Hello @GyuH13, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request introduces significant updates and improvements to both the Python and C++ Easy SDKs for Dynamixel motors. The Python SDK has been completely refactored into a more modular and Pythonic design, including native exception handling and better management of control table data. Concurrently, the C++ SDK has undergone refactoring to streamline data read/write operations, consolidate data type definitions, and enhance error handling and status checking within group commands, ultimately providing a more robust and user-friendly experience across both platforms.

Highlights

Python Easy SDK Overhaul: The Python Easy SDK has been completely rewritten and modularized, introducing new classes like connector.py, control_table.py, data_types.py, dynamixel_error.py, group_executor.py, and motor.py to improve structure and maintainability.
Pythonic Error Handling: Errors in the Python SDK are now handled using Python-style exception handling, providing a more idiomatic and robust way to manage issues.
Control Table Integration (Python): Control table definition files (.model) are now included directly within the Python package, ensuring they are available when the package is distributed via PyPI.
C++ SDK Refactoring for Data Access: Internal writeData and readData functions have been added and applied across the C++ SDK, simplifying the code structure and enabling support for 1-byte and 2-byte based models more consistently.
C++ Data Type Consolidation: The C++ SDK now uses a single data_types.hpp header to consolidate all data type definitions, replacing the previous staged_command.hpp and removing redundant definitions.
Enhanced C++ Error Enumeration: A C++ error enum has been renamed from EASY_SDK_MOTOR_TORQUE_OFF to EASY_SDK_TORQUE_STATUS_MISMATCH for clearer semantics.
Improved C++ Group Control Logic: The group control logic in the C++ SDK has been updated to raise more specific errors based on motor status conditions, and new functions to read Current and PWM values have been added.
C++ Operating Mode Return Type: The getOperatingMode function in the C++ SDK now returns an OperatingMode enum value instead of a raw uint8_t, improving type safety and readability.

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Copilot

Pull Request Overview

This pull request introduces a complete Python Easy SDK implementation and improves the C++ Easy SDK with cleaner abstractions and better error handling.

Key Changes:

Complete Python Easy SDK with Motor, Connector, and GroupExecutor classes
Control table files packaged for PyPI distribution
Pythonic exception-based error handling
C++ refactoring with internal readData/writeData helper functions
Renamed error enum for clarity: EASY_SDK_MOTOR_TORQUE_OFF → EASY_SDK_TORQUE_STATUS_MISMATCH
Added support for reading Current and PWM values

Reviewed Changes

Copilot reviewed 86 out of 86 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
python/src/dynamixel_easy_sdk/motor.py	Core Motor class with read/write operations and staged command support
python/src/dynamixel_easy_sdk/group_executor.py	Handles sync/bulk read/write operations with status validation
python/src/dynamixel_easy_sdk/dynamixel_error.py	Exception classes and error code definitions
python/src/dynamixel_easy_sdk/data_types.py	Enums and dataclasses for operating modes, commands, and requests
python/src/dynamixel_easy_sdk/control_table.py	Control table parser with caching
python/src/dynamixel_easy_sdk/connector.py	Factory class for creating motors and group executors
python/src/dynamixel_easy_sdk/init.py	Package exports
python/pyproject.toml	Package configuration for PyPI distribution
python/src/dynamixel_easy_sdk/control_table/*.model	Control table definition files for various motor models
c++/src/dynamixel_easy_sdk/motor.cpp	Refactored with helper functions and improved mode checking
c++/src/dynamixel_easy_sdk/group_executor.cpp	Added status request processing and signed value conversion

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c++/src/dynamixel_easy_sdk/group_executor.cpp

python/src/dynamixel_easy_sdk/control_table.py

python/src/dynamixel_easy_sdk/motor.py

gemini-code-assist

Code Review

This pull request introduces a significant update with the new Easy SDK for Python and substantial improvements to the C++ Easy SDK. The Python SDK is well-structured, following modern Python practices with dataclasses, enums, and proper exception handling. The C++ SDK has been refactored to be more robust and maintainable, with the introduction of helper functions like writeData and readData that reduce code duplication significantly.

I've found a few critical issues that should be addressed. In the C++ code, there's a potential for a dangling pointer in StagedCommand which could lead to crashes, and a minor bug in error reporting. In the Python code, there's a critical issue with the package name in pyproject.toml which will cause conflicts on PyPI, and a bug in the closePort method.

Overall, these are great improvements that make the SDKs more powerful and easier to use. Addressing the identified issues will make them more robust and safer for developers.

c++/include/dynamixel_easy_sdk/data_types.hpp

python/pyproject.toml

python/src/dynamixel_easy_sdk/connector.py

c++/src/dynamixel_easy_sdk/group_executor.cpp

…ue status mismatch

…ructure

…e methods

c++/src/dynamixel_easy_sdk/group_executor.cpp

yun-goon

Hi, this creates two same control table folders, how about combining them into one?

yun-goon · 2025-11-17T07:35:27Z

python/src/dynamixel_easy_sdk/connector.py

+        if not self._port_handler.openPort():
+            raise DxlRuntimeError('Failed to open the port')
+
+        if not self._port_handler.setBaudRate(baud_rate):
+            raise DxlRuntimeError('Failed to set baud rate')


Why don't you use 'DxlErrorCode' instead of transferring the string directly?

if not self._port_handler.openPort(): raise DxlRuntimeError(DxlErrorCode.SDK_COMM_PORT_BUSY)

02b75d5
d55edd2
Raise DxlRuntimeError(DxlErrorCode.SDK_COMM_PORT_BUSY) when the port is in use. Other errors in this part are handled using string messages, since this is the only case where the busy error occurs.

c++/src/dynamixel_easy_sdk/group_executor.cpp

python/pyproject.toml

yun-goon · 2025-11-17T11:03:03Z

python/src/dynamixel_easy_sdk/group_executor.py

+            results.append(intvalue)
+        return results
+
+    def _processStatusRequests(self, cmd: StagedCommand, data = None) -> None:


cmd.motor can be 'None', so wouldn't it be better to check it?

At the beginning of the function, filtering is done based on this classification.

if not cmd.status_request: return

python/src/dynamixel_easy_sdk/group_executor.py

kimtaehyeong99 · 2025-11-18T02:06:29Z

python/src/dynamixel_easy_sdk/control_table/2xc430_w250.model

Why are we trying to manage the control table in two different places? Can't we just use the control table already provided here (https://github.com/ROBOTIS-GIT/DynamixelSDK/tree/main/control_table)?
If multiple locations handle the same control table, keeping it updated will become difficult.

I also considered that point.
If we don't include control_table in the Python package, the control table cannot be included when distributing via PyPI.
For now, we'll manage it separately, but I'll look into a way to integrate it later.

I also considered that point.
If we don't include it in the Python package, the control table cannot be included when distributing via PyPI.
For now, we'll manage it separately, but I'll look into a way to integrate it later.

kimtaehyeong99 · 2025-11-18T02:08:00Z

python/src/dynamixel_easy_sdk/connector.py

+
+class Connector:
+
+    PROTOCOL_VERSION = 2.0


Is there a reason why PROTOCOL_VERSION is managed inside the Connector class?
Is PROTOCOL_VERSION a variable that is only used within the Connector?

Yes. it is only used in Connector.

kimtaehyeong99 · 2025-11-18T02:09:41Z

c++/src/dynamixel_easy_sdk/group_executor.cpp

+    sorted_list.begin(),
+    sorted_list.end(),
+    [](const StagedCommand & a, const StagedCommand & b) {
+      return a.id < b.id;


Using single-letter variable names like a or b can make the code harder to understand.

In the sort function, the lambda arguments can be named either a, b or cmd1, cmd2. I think there’s not much difference between the two. Do you think using cmd1, cmd2 would be better?

kimtaehyeong99 · 2025-11-18T02:09:54Z

c++/src/dynamixel_easy_sdk/group_executor.cpp

+    sorted_list.begin(),
+    sorted_list.end(),
+    [](const StagedCommand & a, const StagedCommand & b) {
+      return a.id == b.id;


Using single-letter variable names like a or b can make the code harder to understand.

Same answer with above.

…ecutor class

…n in Motor and GroupExecutor classes

…ble.py

ola31

LGTM

nhw-robotis

Good!

…base

… parameter

GyuH13 added 13 commits November 6, 2025 17:20

python single motor control update

a3b550e

Signed-off-by: Hyungyu Kim <[email protected]>

cpp refactoring

56dc925

Signed-off-by: Hyungyu Kim <[email protected]>

add group motor control in python

6dd9bd5

Signed-off-by: Hyungyu Kim <[email protected]>

add current and PWM mode

2903299

Signed-off-by: Hyungyu Kim <[email protected]>

add getPresentpwm function

6f9f3cc

Signed-off-by: Hyungyu Kim <[email protected]>

python group control update

6920d45

Signed-off-by: Hyungyu Kim <[email protected]>

lint

e3055cc

Signed-off-by: Hyungyu Kim <[email protected]>

cpp improvement update

516a3e5

Signed-off-by: Hyungyu Kim <[email protected]>

add data_types.hpp and remove stagedCommand.hpp

58ed7d3

Signed-off-by: Hyungyu Kim <[email protected]>

cpp update

7475813

Signed-off-by: Hyungyu Kim <[email protected]>

remove include control_table sentence in groupExecutor

6d55bc9

Signed-off-by: Hyungyu Kim <[email protected]>

refactorying groupExecutor

aa87a44

Signed-off-by: Hyungyu Kim <[email protected]>

Added compatibility for Python versions below 3.9

fa009d5

Signed-off-by: Hyungyu Kim <[email protected]>

Copilot AI review requested due to automatic review settings November 17, 2025 04:56

Copilot started reviewing on behalf of GyuH13 November 17, 2025 04:57 View session

GyuH13 requested review from Woojin-Crive, kimtaehyeong99, nhw-robotis, ola31, sunghowoo and yun-goon November 17, 2025 04:57

Copilot finished reviewing on behalf of GyuH13 November 17, 2025 04:57

Copilot AI reviewed Nov 17, 2025

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c++/include/dynamixel_easy_sdk/data_types.hpp Show resolved Hide resolved

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ola31 added the enhancement New feature or request label Nov 17, 2025

ola31 added this to Platform Nov 17, 2025

ola31 moved this from 🌱 Todo to 📝 Pull Request in Platform Nov 17, 2025

github-project-automation bot moved this to 🌱 Todo in Platform Nov 17, 2025

processStatusRequests: add error handling for operating mode and torq…

2765bc9

…ue status mismatch

GyuH13 added 3 commits November 17, 2025 15:53

control_table.py: fix CONTROL_TABLE_PATH import for correct module st…

e80ea1c

…ructure

motor.py: add error handling for unsupported data length in read/writ…

48736a5

…e methods

fix: update closePort method to use instance port_handler

21cb38c

ola31 reviewed Nov 17, 2025

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c++/src/dynamixel_easy_sdk/group_executor.cpp Show resolved Hide resolved

yun-goon requested changes Nov 17, 2025

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GyuH13 self-assigned this Nov 18, 2025

kimtaehyeong99 requested changes Nov 18, 2025

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GyuH13 added 5 commits November 18, 2025 12:15

fix: enhance error handling in port opening and baud rate setting

02b75d5

fix: improve error handling for port opening in Connector class

d55edd2

refactor: remove commented-out code for executeRead method in GroupEx…

7455529

…ecutor class

fix: update package description to reflect version 4.0.1

9b97ae6

refactor: replace custom _toSignedInt method with toSignedInt functio…

9f10443

…n in Motor and GroupExecutor classes

GyuH13 requested review from kimtaehyeong99, ola31 and yun-goon November 18, 2025 06:45

fix: handle multiple import errors for resources module in control_ta…

36a3388

…ble.py

ola31 approved these changes Nov 18, 2025

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nhw-robotis approved these changes Nov 19, 2025

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GyuH13 added 2 commits November 19, 2025 11:03

rename DxlErrorCode to DxlError and update references across the code…

e235116

…base

refactor: update DxlRuntimeError and getErrorMessage to use dxl_error…

b52c049

… parameter

Easy sdk python update and improvement of cpp easy sdk #669

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GyuH13 commented Nov 17, 2025 •

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GyuH13 Nov 18, 2025 •

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