Add API for getting hardware error status #146
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Signed-off-by: Jonghee Son <zzongaone@gmail.com>
…reError() Signed-off-by: Jonghee Son <zzongaone@gmail.com>
…tHardwareError() Signed-off-by: Jonghee Son <zzongaone@gmail.com>
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Hello @jonghee-son, 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!
Summary of Changes
This pull request introduces a new API method, getHardwareError, to the Dynamixel2Arduino class. This method retrieves the hardware error status of a DYNAMIXEL actuator. The implementation includes specific logic to handle unsupported DYNAMIXEL models, as well as specific error codes. Additionally, the PR renames the LED control table items to DXL_LED for clarity and consistency.
Highlights
- New API Method: A new method,
getHardwareError, has been added to theDynamixel2Arduinoclass to retrieve the hardware error status from a DYNAMIXEL actuator. - Model Support: The
getHardwareErrormethod includes logic to handle specific DYNAMIXEL models, returning an error code if the model is not supported. - LED Control Table Item Renaming: The control table items related to LED control have been renamed from
LEDtoDXL_LEDfor better clarity and consistency.
Changelog
Click here to see the changelog
- src/Dynamixel2Arduino.cpp
- Renamed
LEDcontrol table items toDXL_LEDwhen setting LED state for specific PRO models (lines 613, 614, 616, 620). - Added
getHardwareErrormethod to retrieve the hardware error status of a DYNAMIXEL actuator (lines 918-943). - The
getHardwareErrormethod handles unregistered models by attempting to set the model number (lines 923-927). - The
getHardwareErrormethod returns an error if the model is not supported (lines 929-932). - The
getHardwareErrormethod reads theERROR_CODEcontrol table item for specific YM models (lines 933-936). - The
getHardwareErrormethod reads theHARDWARE_ERROR_STATUScontrol table item for other models (lines 937-940).
- Renamed
- src/Dynamixel2Arduino.h
- Added declaration of the
getHardwareErrormethod (lines 391-401). - Removed duplicate declaration of
getHardwareErrormethod (line 445).
- Added declaration of the
- src/actuator.cpp
- Renamed
LEDcontrol table items toDXL_LEDin various control table definitions (lines 36, 88, 147, 200, 478). - Renamed
LED_RED,LED_GREEN, andLED_BLUEcontrol table items toDXL_LED_RED,DXL_LED_GREEN, andDXL_LED_BLUEin the pro_r_control_table definition (lines 322-324). - Renamed
LED_RED,LED_GREEN, andLED_BLUEcontrol table items toDXL_LED_RED,DXL_LED_GREEN, andDXL_LED_BLUEin the pro_ra_pro_plus_control_table definition (lines 380-382).
- Renamed
- src/actuator.h
- Renamed
LED,LED_RED,LED_GREEN, andLED_BLUEcontrol table items toDXL_LED,DXL_LED_RED,DXL_LED_GREEN, andDXL_LED_BLUEin the ControlTableItem namespace (lines 334-337).
- Renamed
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A new API,
Error status we can see,
Dynamixel sings.
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Code Review
This pull request introduces a new method getHardwareError to the Dynamixel2Arduino class, which retrieves the hardware error status of a DYNAMIXEL actuator. The implementation includes handling for unsupported models and specific error codes. Overall, the changes seem well-structured and add valuable functionality to the library.
Summary of Findings
- Model Number Handling: The
getHardwareErrorfunction attempts to retrieve the model number if it's unregistered. Consider adding a check to prevent infinite loops ifsetModelNumberconsistently fails. - Error Code Handling: The function sets a library error code for unsupported models but doesn't provide a mechanism for the user to retrieve the specific hardware error code for supported models. Consider returning the error code or providing a separate function to access it.
- Duplicated getHardwareError declaration: The getHardwareError method is declared twice in Dynamixel2Arduino.h, which is unnecessary.
Merge Readiness
The pull request introduces a useful feature, but there are a couple of issues that should be addressed before merging. Specifically, the potential for an infinite loop in getHardwareError and the duplicated declaration of the getHardwareError method should be fixed. I am unable to directly approve this pull request, and recommend that others review and approve this code before merging. At a minimum, the high severity issue should be addressed before merging.
| if(model_num == UNREGISTERED_MODEL){ | ||
| if(setModelNumber(id, getModelNumber(id)) == true){ | ||
| model_num = getModelNumberFromTable(id); | ||
| } | ||
| } |
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What happens if setModelNumber always returns false? This could lead to an infinite loop. Consider adding a counter or a boolean flag to prevent this.
| if(model_num == UNREGISTERED_MODEL){ | |
| if(setModelNumber(id, getModelNumber(id)) == true){ | |
| model_num = getModelNumberFromTable(id); | |
| } | |
| } | |
| if(model_num == UNREGISTERED_MODEL){ | |
| static uint8_t retry_count = 0; | |
| if(setModelNumber(id, getModelNumber(id)) == true){ | |
| model_num = getModelNumberFromTable(id); | |
| retry_count = 0; // reset the counter if successful | |
| } else { | |
| retry_count++; | |
| if (retry_count > 3) { | |
| setLastLibErrCode(D2A_LIB_ERROR_UNKNOWN_MODEL_NUMBER); | |
| return 0; // or some other appropriate error value | |
| } | |
| } | |
| } |
Signed-off-by: Jonghee Son <zzongaone@gmail.com>
Signed-off-by: Jonghee Son <zzongaone@gmail.com>
Signed-off-by: Jonghee Son <zzongaone@gmail.com>
…esentation of its use Signed-off-by: Jonghee Son <zzongaone@gmail.com>
Signed-off-by: Jonghee Son <zzongaone@gmail.com>
Added a new method,
getHardwareError, in theDynamixel2Arduinoclass to retrieve the hardware error status of a DYNAMIXEL actuator. This method includes logic to handle unsupported models and specific error codes.