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change timeout for handshake

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Virgile
2026-05-07 10:31:14 +02:00
parent e99c55af4b
commit a27773fa3e
2 changed files with 9 additions and 4 deletions
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src/lerobot/motors/robstride/robstride.py
+7 -3
View File
@@ -48,6 +48,7 @@ from .tables import (
NORMALIZED_DATA, NORMALIZED_DATA,
PARAM_TIMEOUT, PARAM_TIMEOUT,
RUNNING_TIMEOUT, RUNNING_TIMEOUT,
HANDSHAKE_TIMEOUT_S,
STATE_CACHE_TTL_S, STATE_CACHE_TTL_S,
ControlMode, ControlMode,
MotorType, MotorType,
@@ -215,14 +216,17 @@ class RobstrideMotorsBus(MotorsBusBase):
self._is_connected = False self._is_connected = False
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(self, motor: NameOrID) -> tuple[bool, can.Message | None]: def _query_status_via_clear_fault(
self, motor: NameOrID, timeout: float | None = 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)
recv_id = self._get_motor_recv_id(motor_name) recv_id = self._get_motor_recv_id(motor_name)
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)
return self._recv_status_via_clear_fault(expected_recv_id=recv_id) wait_s = RUNNING_TIMEOUT if timeout is None else float(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
@@ -280,7 +284,7 @@ class RobstrideMotorsBus(MotorsBusBase):
faulted_motors = [] faulted_motors = []
for motor_name in self.motors: for motor_name in self.motors:
has_fault, msg = self._query_status_via_clear_fault(motor_name) has_fault, msg = self._query_status_via_clear_fault(motor_name, timeout=HANDSHAKE_TIMEOUT_S)
if msg is None: if msg is None:
missing_motors.append(motor_name) missing_motors.append(motor_name)
elif has_fault: elif has_fault:
src/lerobot/motors/robstride/tables.py
+2 -1
View File
@@ -114,7 +114,8 @@ CAN_CMD_SAVE_PARAM = 0xAA
CAN_PARAM_ID = 0x7FF CAN_PARAM_ID = 0x7FF
RUNNING_TIMEOUT = 0.001 RUNNING_TIMEOUT = 0.003
HANDSHAKE_TIMEOUT_S = 0.05
PARAM_TIMEOUT = 0.01 PARAM_TIMEOUT = 0.01
STATE_CACHE_TTL_S = 0.02 STATE_CACHE_TTL_S = 0.02