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bugfix + %-style

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This commit is contained in:
Virgile
2026-05-20 16:53:33 +02:00
parent 6d69cfb952
commit ec6c7f95c4
1 changed files with 10 additions and 17 deletions
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src/lerobot/motors/robstride/robstride.py
+10 -17
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@@ -548,10 +548,8 @@ class RobstrideMotorsBus(MotorsBusBase):
for msg in messages:
if len(msg.data) < 1:
logger.debug(
"Dropping short CAN frame on %s (arb=0x%02X, data=%s)",
self.port,
int(msg.arbitration_id),
bytes(msg.data).hex(),
f"Dropping short CAN frame on {self.port} "
f"(arb=0x{int(msg.arbitration_id):02X}, data={bytes(msg.data).hex()})"
)
continue
@@ -559,11 +557,8 @@ class RobstrideMotorsBus(MotorsBusBase):
motor_name = self._recv_id_to_motor.get(recv_id)
if motor_name is None:
logger.debug(
"Unmapped CAN frame on %s (arb=0x%02X, recv_id=0x%02X, data=%s)",
self.port,
int(msg.arbitration_id),
recv_id,
bytes(msg.data).hex(),
f"Unmapped CAN frame on {self.port} "
f"(arb=0x{int(msg.arbitration_id):02X}, recv_id=0x{recv_id:02X}, data={bytes(msg.data).hex()})"
)
continue
@@ -591,7 +586,7 @@ class RobstrideMotorsBus(MotorsBusBase):
break
drained += 1
except Exception as e:
logger.debug("Failed to flush CAN RX queue on %s: %s", self.port, e)
logger.debug(f"Failed to flush CAN RX queue on {self.port}: {e}")
return drained
def _speed_control(
@@ -740,7 +735,7 @@ class RobstrideMotorsBus(MotorsBusBase):
for recv_id, motor_name in recv_id_to_motor.items():
if recv_id not in processed_recv_ids:
logger.warning("Packet drop: %s (ID: 0x%02X). Using last known state.", motor_name, recv_id)
logger.warning(f"Packet drop: {motor_name} (ID: 0x{recv_id:02X}). Using last known state.")
def _float_to_uint(self, x: float, x_min: float, x_max: float, bits: int) -> int:
"""Convert float to unsigned integer for CAN transmission."""
@@ -804,11 +799,8 @@ class RobstrideMotorsBus(MotorsBusBase):
self._decode_motor_state(msg.data)
except Exception as e:
logger.warning(
"Failed to decode response from %s (arb=0x%02X, data=%s): %s",
motor,
int(msg.arbitration_id),
bytes(msg.data).hex(),
e,
f"Failed to decode response from {motor} "
f"(arb=0x{int(msg.arbitration_id):02X}, data={bytes(msg.data).hex()}): {e}"
)
def _get_cached_value(self, motor: str, data_name: str) -> Value:
@@ -944,6 +936,7 @@ class RobstrideMotorsBus(MotorsBusBase):
data = [0xFF] * 7 + [CAN_CMD_CLEAR_FAULT]
msg = can.Message(arbitration_id=motor_id, data=data, is_extended_id=False)
self._bus().send(msg)
updated_motors.append(motor)
messages = self._recv_all_messages_until_quiet()
processed_recv_ids = self._process_feedback_messages(messages)
@@ -951,7 +944,7 @@ class RobstrideMotorsBus(MotorsBusBase):
for motor in updated_motors:
recv_id = self._get_motor_recv_id(motor)
if recv_id not in processed_recv_ids:
logger.warning("Packet drop: %s (ID: 0x%02X). Using last known state.", motor, recv_id)
logger.warning(f"Packet drop: {motor} (ID: 0x{recv_id:02X}). Using last known state.")
def read_calibration(self) -> dict[str, MotorCalibration]:
"""Read calibration data from motors."""