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robstride: remove redundant timeout and max_messages casts

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Virgile
2026-05-11 09:45:13 +02:00
parent 7953cb4b53
commit 6d69cfb952
1 changed files with 14 additions and 15 deletions
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src/lerobot/motors/robstride/robstride.py
+14 -15
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@@ -217,7 +217,7 @@ class RobstrideMotorsBus(MotorsBusBase):
raise ConnectionError(f"Failed to connect to CAN bus: {e}") from e raise ConnectionError(f"Failed to connect to CAN bus: {e}") from e
def _query_status_via_clear_fault( def _query_status_via_clear_fault(
self, motor: NameOrID, timeout: float | None = None self, motor: NameOrID, timeout: float = RUNNING_TIMEOUT
) -> tuple[bool, can.Message | None]: ) -> tuple[bool, can.Message | None]:
motor_name = self._get_motor_name(motor) motor_name = self._get_motor_name(motor)
motor_id = self._get_motor_id(motor_name) motor_id = self._get_motor_id(motor_name)
@@ -225,8 +225,7 @@ class RobstrideMotorsBus(MotorsBusBase):
data = [0xFF] * 7 + [CAN_CMD_CLEAR_FAULT] data = [0xFF] * 7 + [CAN_CMD_CLEAR_FAULT]
msg = can.Message(arbitration_id=motor_id, data=data, is_extended_id=False) msg = can.Message(arbitration_id=motor_id, data=data, is_extended_id=False)
self._bus().send(msg) self._bus().send(msg)
wait_s = RUNNING_TIMEOUT if timeout is None else float(timeout) return self._recv_status_via_clear_fault(expected_recv_id=recv_id, timeout=timeout)
return self._recv_status_via_clear_fault(expected_recv_id=recv_id, timeout=wait_s)
def _recv_status_via_clear_fault( def _recv_status_via_clear_fault(
self, expected_recv_id: int | None = None, timeout: float = RUNNING_TIMEOUT self, expected_recv_id: int | None = None, timeout: float = RUNNING_TIMEOUT
@@ -512,7 +511,7 @@ class RobstrideMotorsBus(MotorsBusBase):
def _recv_all_messages_until_quiet( def _recv_all_messages_until_quiet(
self, self,
*, *,
timeout: float, timeout: float = RUNNING_TIMEOUT,
max_messages: int = 4096, max_messages: int = 4096,
) -> list[can.Message]: ) -> list[can.Message]:
""" """
@@ -524,17 +523,17 @@ class RobstrideMotorsBus(MotorsBusBase):
max_messages: Safety cap to prevent unbounded loops. max_messages: Safety cap to prevent unbounded loops.
""" """
out: list[can.Message] = [] out: list[can.Message] = []
cap = max(1, int(max_messages)) max_messages = max(1, max_messages)
recv_timeout = max(0.0, float(timeout)) timeout = max(0.0, timeout)
try: try:
while len(out) < cap: while len(out) < max_messages:
msg = self._bus().recv(timeout=recv_timeout) msg = self._bus().recv(timeout=timeout)
if msg is None: if msg is None:
break break
out.append(msg) out.append(msg)
except (can.CanError, OSError) as e: except (can.CanError, OSError) as e:
logger.debug("Error draining CAN RX queue on %s: %s", self.port, e) logger.debug(f"Error draining CAN RX queue on {self.port}: {e}")
return out return out
@@ -583,11 +582,11 @@ class RobstrideMotorsBus(MotorsBusBase):
to clear residual frames left on the interface from previous sessions. to clear residual frames left on the interface from previous sessions.
""" """
drained = 0 drained = 0
timeout_s = max(0.0, float(poll_timeout_s)) poll_timeout_s = max(0.0, poll_timeout_s)
cap = max(1, int(max_messages)) max_messages = max(1, max_messages)
try: try:
while drained < cap: while drained < max_messages:
msg = self._bus().recv(timeout=timeout_s) msg = self._bus().recv(timeout=poll_timeout_s)
if msg is None: if msg is None:
break break
drained += 1 drained += 1
@@ -736,7 +735,7 @@ class RobstrideMotorsBus(MotorsBusBase):
recv_id_to_motor[self._get_motor_recv_id(motor)] = motor_name recv_id_to_motor[self._get_motor_recv_id(motor)] = motor_name
# Read every feedback frame until RX goes quiet, then decode all of them. # Read every feedback frame until RX goes quiet, then decode all of them.
# This avoids dropping useful frames when responses from different motors interleave. # This avoids dropping useful frames when responses from different motors interleave.
messages = self._recv_all_messages_until_quiet(timeout=RUNNING_TIMEOUT) messages = self._recv_all_messages_until_quiet()
processed_recv_ids = self._process_feedback_messages(messages) processed_recv_ids = self._process_feedback_messages(messages)
for recv_id, motor_name in recv_id_to_motor.items(): for recv_id, motor_name in recv_id_to_motor.items():
@@ -946,7 +945,7 @@ class RobstrideMotorsBus(MotorsBusBase):
msg = can.Message(arbitration_id=motor_id, data=data, is_extended_id=False) msg = can.Message(arbitration_id=motor_id, data=data, is_extended_id=False)
self._bus().send(msg) self._bus().send(msg)
messages = self._recv_all_messages_until_quiet(timeout=RUNNING_TIMEOUT) messages = self._recv_all_messages_until_quiet()
processed_recv_ids = self._process_feedback_messages(messages) processed_recv_ids = self._process_feedback_messages(messages)
for motor in updated_motors: for motor in updated_motors: