torque settings & speeds

Author: hatomist

openlch/__init__.py

@@ -1,3 +1,3 @@
-__version__ = "0.5.3"
+__version__ = "0.6.0"
 
 from .hal import HAL

openlch/hal.py

@@ -34,15 +34,15 @@ class Servo:
         def __init__(self, stub):
             self.__stub = stub
 
-        def get_positions(self) -> List[Tuple[int, float]]:
+        def get_positions(self) -> List[Tuple[int, float, float]]:
             """
-            Get current positions of all servos.
+            Get current positions and speeds of all servos.
 
             Returns:
-                List[Tuple[int, float]]: A list of tuples containing servo IDs and their positions.
+                List[Tuple[int, float, float]]: A list of tuples containing servo IDs, their positions, and speeds.
             """
             response = self.__stub.GetPositions(hal_pb_pb2.Empty())
-            return [(pos.id, pos.position) for pos in response.positions]
+            return [(pos.id, pos.position, pos.speed) for pos in response.positions]
 
         def set_positions(self, positions: List[Tuple[int, float]]) -> None:
             """
@@ -52,7 +52,7 @@ def set_positions(self, positions: List[Tuple[int, float]]) -> None:
                 positions (List[Tuple[int, float]]): A list of tuples, each containing a servo ID and its target position.
             """
             joint_positions = [
-                hal_pb_pb2.JointPosition(id=id, position=position)
+                hal_pb_pb2.JointPosition(id=id, position=position, speed=0)
                 for id, position in positions
             ]
             request = hal_pb_pb2.JointPositions(positions=joint_positions)
@@ -191,6 +191,34 @@ def get_calibration_status(self) -> Dict[str, Union[bool, int]]:
                 'calibrating_servo_id': response.calibrating_servo_id
             }
 
+        def set_torque(self, torque_settings: List[Tuple[int, float]]) -> None:
+            """
+            Set torque for multiple servos.
+
+            Args:
+                torque_settings (List[Tuple[int, float]]): A list of tuples, each containing a servo ID and its target torque.
+            """
+            settings = [
+                hal_pb_pb2.TorqueSetting(id=id, torque=torque)
+                for id, torque in torque_settings
+            ]
+            request = hal_pb_pb2.TorqueSettings(settings=settings)
+            self.__stub.SetTorque(request)
+
+        def set_torque_enable(self, enable_settings: List[Tuple[int, bool]]) -> None:
+            """
+            Enable or disable torque for multiple servos.
+
+            Args:
+                enable_settings (List[Tuple[int, bool]]): A list of tuples, each containing a servo ID and a boolean indicating whether to enable torque.
+            """
+            settings = [
+                hal_pb_pb2.TorqueEnableSetting(id=id, enable=enable)
+                for id, enable in enable_settings
+            ]
+            request = hal_pb_pb2.TorqueEnableSettings(settings=settings)
+            self.__stub.SetTorqueEnable(request)
+
     class System:
         """Class for system-related operations."""
 

openlch/hal_pb_pb2.py

@@ -94,6 +94,16 @@ def __init__(self, channel):
                 request_serializer=hal__pb__pb2.Empty.SerializeToString,
                 response_deserializer=hal__pb__pb2.CalibrationStatus.FromString,
                 _registered_method=True)
+        self.SetTorque = channel.unary_unary(
+                '/hal_pb.ServoControl/SetTorque',
+                request_serializer=hal__pb__pb2.TorqueSettings.SerializeToString,
+                response_deserializer=hal__pb__pb2.Empty.FromString,
+                _registered_method=True)
+        self.SetTorqueEnable = channel.unary_unary(
+                '/hal_pb.ServoControl/SetTorqueEnable',
+                request_serializer=hal__pb__pb2.TorqueEnableSettings.SerializeToString,
+                response_deserializer=hal__pb__pb2.Empty.FromString,
+                _registered_method=True)
 
 
 class ServoControlServicer(object):
@@ -171,6 +181,18 @@ def GetCalibrationStatus(self, request, context):
         context.set_details('Method not implemented!')
         raise NotImplementedError('Method not implemented!')
 
+    def SetTorque(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def SetTorqueEnable(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
 
 def add_ServoControlServicer_to_server(servicer, server):
     rpc_method_handlers = {
@@ -234,6 +256,16 @@ def add_ServoControlServicer_to_server(servicer, server):
                     request_deserializer=hal__pb__pb2.Empty.FromString,
                     response_serializer=hal__pb__pb2.CalibrationStatus.SerializeToString,
             ),
+            'SetTorque': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetTorque,
+                    request_deserializer=hal__pb__pb2.TorqueSettings.FromString,
+                    response_serializer=hal__pb__pb2.Empty.SerializeToString,
+            ),
+            'SetTorqueEnable': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetTorqueEnable,
+                    request_deserializer=hal__pb__pb2.TorqueEnableSettings.FromString,
+                    response_serializer=hal__pb__pb2.Empty.SerializeToString,
+            ),
     }
     generic_handler = grpc.method_handlers_generic_handler(
             'hal_pb.ServoControl', rpc_method_handlers)
@@ -568,3 +600,57 @@ def GetCalibrationStatus(request,
             timeout,
             metadata,
             _registered_method=True)
+
+    @staticmethod
+    def SetTorque(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/hal_pb.ServoControl/SetTorque',
+            hal__pb__pb2.TorqueSettings.SerializeToString,
+            hal__pb__pb2.Empty.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def SetTorqueEnable(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/hal_pb.ServoControl/SetTorqueEnable',
+            hal__pb__pb2.TorqueEnableSettings.SerializeToString,
+            hal__pb__pb2.Empty.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)