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Enable to ignore fatal errors #97

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4 changes: 4 additions & 0 deletions dynamixel_controllers/src/dynamixel_controllers/joint_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,7 @@ def __init__(self, dxl_io, controller_namespace, port_namespace):
self.compliance_margin = rospy.get_param(self.controller_namespace + '/joint_compliance_margin', None)
self.compliance_punch = rospy.get_param(self.controller_namespace + '/joint_compliance_punch', None)
self.torque_limit = rospy.get_param(self.controller_namespace + '/joint_torque_limit', None)
self.ignored_errors = rospy.get_param(self.controller_namespace + '/ignored_errors', None)

self.__ensure_limits()

Expand Down Expand Up @@ -136,6 +137,9 @@ def set_compliance_punch(self, punch):
def set_torque_limit(self, max_torque):
raise NotImplementedError

def set_ignored_errors(self, errs):
raise NotImplementedError

def process_set_speed(self, req):
self.set_speed(req.speed)
return [] # success
Expand Down
6 changes: 6 additions & 0 deletions dynamixel_controllers/src/dynamixel_controllers/joint_position_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,9 @@ def initialize(self):
rospy.loginfo("Setting acceleration of %d to %d" % (self.motor_id, self.acceleration))
self.dxl_io.set_acceleration(self.motor_id, self.acceleration)

if self.ignored_errors is not None:
self.set_ignored_errors(self.ignored_errors)

self.joint_max_speed = rospy.get_param(self.controller_namespace + '/joint_max_speed', self.MAX_VELOCITY)

if self.joint_max_speed < self.MIN_VELOCITY: self.joint_max_speed = self.MIN_VELOCITY
Expand Down Expand Up @@ -159,6 +162,9 @@ def set_torque_limit(self, max_torque):
mcv = (self.motor_id, raw_torque_val)
self.dxl_io.set_multi_torque_limit([mcv])

def set_ignored_errors(self, errs):
self.dxl_io.set_ignored_errors(self.motor_id, errs)

def set_acceleration_raw(self, acc):
if acc < 0: acc = 0
elif acc > 254: acc = 254
Expand Down
7 changes: 7 additions & 0 deletions dynamixel_controllers/src/dynamixel_controllers/joint_position_controller_dual_motor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -98,6 +98,9 @@ def initialize(self):
if self.compliance_punch is not None: self.set_compliance_punch(self.compliance_punch)
if self.torque_limit is not None: self.set_torque_limit(self.torque_limit)

if self.ignored_errors is not None:
self.set_ignored_errors(self.ignored_errors)

self.joint_max_speed = rospy.get_param(self.controller_namespace + '/joint_max_speed', self.MAX_VELOCITY)

if self.joint_max_speed < self.MIN_VELOCITY: self.joint_max_speed = self.MIN_VELOCITY
Expand Down Expand Up @@ -175,6 +178,10 @@ def set_torque_limit(self, max_torque):
mcv_slave = (self.slave_id, raw_torque_val)
self.dxl_io.set_multi_torque_limit([mcv_master, mcv_slave])

def set_ignored_errors(self, errs):
self.dxl_io.set_ignored_errors(self.master_id, errs)
self.dxl_io.set_ignored_errors(self.slave_id, errs)

def process_motor_states(self, state_list):
if self.running:
states = {}
Expand Down
6 changes: 6 additions & 0 deletions dynamixel_controllers/src/dynamixel_controllers/joint_torque_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,9 @@ def initialize(self):
if self.compliance_punch is not None: self.set_compliance_punch(self.compliance_punch)
if self.torque_limit is not None: self.set_torque_limit(self.torque_limit)

if self.ignored_errors is not None:
self.set_ignored_errors(self.ignored_errors)

self.joint_max_speed = rospy.get_param(self.controller_namespace + '/joint_max_speed', self.MAX_VELOCITY)

if self.joint_max_speed < self.MIN_VELOCITY: self.joint_max_speed = self.MIN_VELOCITY
Expand Down Expand Up @@ -149,6 +152,9 @@ def set_torque_limit(self, max_torque):
mcv = (self.motor_id, raw_torque_val)
self.dxl_io.set_multi_torque_limit([mcv])

def set_ignored_errors(self, errs):
self.dxl_io.set_ignored_errors(self.motor_id, errs)

def process_motor_states(self, state_list):
if self.running:
state = filter(lambda state: state.id == self.motor_id, state_list.motor_states)
Expand Down
8 changes: 8 additions & 0 deletions dynamixel_controllers/src/dynamixel_controllers/joint_torque_controller_dual_motor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -98,6 +98,9 @@ def initialize(self):
if self.compliance_punch is not None: self.set_compliance_punch(self.compliance_punch)
if self.torque_limit is not None: self.set_torque_limit(self.torque_limit)

if self.ignored_errors is not None:
self.set_ignored_errors(self.ignored_errors)

self.joint_max_speed = rospy.get_param(self.controller_namespace + '/joint_max_speed', self.MAX_VELOCITY)

if self.joint_max_speed < self.MIN_VELOCITY: self.joint_max_speed = self.MIN_VELOCITY
Expand Down Expand Up @@ -162,6 +165,11 @@ def set_torque_limit(self, max_torque):
self.dxl_io.set_multi_torque_limit([mcv_master, mcv_slave])


def set_ignored_errors(self, errs):
self.dxl_io.set_ignored_errors(self.master_id, errs)
self.dxl_io.set_ignored_errors(self.slave_id, errs)


def process_motor_states(self, state_list):
if self.running:
states = {}
Expand Down
31 changes: 24 additions & 7 deletions dynamixel_driver/src/dynamixel_driver/dynamixel_io.py
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,7 @@ def __init__(self, port, baudrate, readback_echo=False):
self.ser = serial.Serial(port, baudrate, timeout=0.015)
self.port_name = port
self.readback_echo = readback_echo
self.ignored_errors = {}
except SerialOpenError:
raise SerialOpenError(port, baudrate)

Expand Down Expand Up @@ -973,6 +974,18 @@ def get_led(self, servo_id):
return bool(response[5])


def set_ignored_errors(self, servo_id, errs):
"""
Sets which errors are ignored.
errs is a list of ignored errors' names.
"""
try:
self.ignored_errors[servo_id]
except KeyError:
self.ignored_errors[servo_id] = 0
for err in errs:
self.ignored_errors[servo_id] += eval(err)

def exception_on_error(self, error_code, servo_id, command_failed):
global exception
exception = None
Expand All @@ -982,25 +995,29 @@ def exception_on_error(self, error_code, servo_id, command_failed):
msg = 'Communcation Error ' + ex_message
exception = NonfatalErrorCodeError(msg, 0)
return
if not error_code & DXL_OVERHEATING_ERROR == 0:
try:
detectable_errs = 0xff & ~self.ignored_errors[servo_id]
except KeyError:
detectable_errs = 0xff
if not error_code & DXL_OVERHEATING_ERROR & detectable_errs == 0:
msg = 'Overheating Error ' + ex_message
exception = FatalErrorCodeError(msg, error_code)
if not error_code & DXL_OVERLOAD_ERROR == 0:
if not error_code & DXL_OVERLOAD_ERROR & detectable_errs == 0:
msg = 'Overload Error ' + ex_message
exception = FatalErrorCodeError(msg, error_code)
if not error_code & DXL_INPUT_VOLTAGE_ERROR == 0:
if not error_code & DXL_INPUT_VOLTAGE_ERROR & detectable_errs == 0:
msg = 'Input Voltage Error ' + ex_message
exception = NonfatalErrorCodeError(msg, error_code)
if not error_code & DXL_ANGLE_LIMIT_ERROR == 0:
if not error_code & DXL_ANGLE_LIMIT_ERROR & detectable_errs == 0:
msg = 'Angle Limit Error ' + ex_message
exception = NonfatalErrorCodeError(msg, error_code)
if not error_code & DXL_RANGE_ERROR == 0:
if not error_code & DXL_RANGE_ERROR & detectable_errs == 0:
msg = 'Range Error ' + ex_message
exception = NonfatalErrorCodeError(msg, error_code)
if not error_code & DXL_CHECKSUM_ERROR == 0:
if not error_code & DXL_CHECKSUM_ERROR & detectable_errs == 0:
msg = 'Checksum Error ' + ex_message
exception = NonfatalErrorCodeError(msg, error_code)
if not error_code & DXL_INSTRUCTION_ERROR == 0:
if not error_code & DXL_INSTRUCTION_ERROR & detectable_errs == 0:
msg = 'Instruction Error ' + ex_message
exception = NonfatalErrorCodeError(msg, error_code)

Expand Down