Source code for pypot.dynamixel.error
# -*- coding: utf-8 -*-
import logging
logger = logging.getLogger(__name__)
[docs]class DxlErrorHandler(object):
""" This class is used to represent all the error that you can/should handle.
The errors can be of two types:
* communication error (timeout, communication)
* motor error (voltage, limit, overload...)
This class was designed as an abstract class and so you should write your own handler by subclassing this class and defining the apropriate behavior for your program.
.. warning:: The motor error should be overload carrefuly as they can indicate important mechanical issue.
"""
# MARK: - Communication errors
[docs] def handle_timeout(self, timeout_error):
raise NotImplementedError
[docs] def handle_communication_error(self, communication_error):
raise NotImplementedError
# MARK: - Motor errors
[docs] def handle_angle_limit_error(self, instruction_packet):
raise NotImplementedError
[docs] def handle_overheating_error(self, instruction_packet):
raise NotImplementedError
[docs] def handle_range_error(self, instruction_packet):
raise NotImplementedError
[docs] def handle_checksum_error(self, instruction_packet):
raise NotImplementedError
[docs] def handle_overload_error(self, instruction_packet):
raise NotImplementedError
[docs] def handle_instruction_error(self, instruction_packet):
raise NotImplementedError
[docs] def handle_none_error(self, instruction_packet):
raise NotImplementedError
[docs]class BaseErrorHandler(DxlErrorHandler):
""" This class is a basic handler that just skip the communication errors. """
[docs] def handle_timeout(self, timeout_error):
msg = 'Timeout after sending {} to motors {}'.format(timeout_error.instruction_packet,
timeout_error.ids)
logger.warning(msg,
extra={'port': timeout_error.dxl_io.port,
'baudrate': timeout_error.dxl_io.baudrate,
'timeout': timeout_error.dxl_io.timeout})
[docs] def handle_communication_error(self, com_error):
msg = 'Communication error after sending {}'.format(com_error.instruction_packet)
logger.warning(msg,
extra={'port': com_error.dxl_io.port,
'baudrate': com_error.dxl_io.baudrate,
'timeout': com_error.dxl_io.timeout})
[docs] def handle_none_error(self, instruction_packet):
logger.info('None Error!')
