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fix: correct dataclass instantiation bugs in GrpFault and GrpStatus #2

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fix: correct dataclass instantiation bugs in GrpFault and GrpStatus #2

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72 changes: 36 additions & 36 deletions Robotiq2F85Driver/Robotiq2F85Driver.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
from pathlib import Path
import subprocess
import minimalmodbus as mm
from dataclasses import dataclass
from dataclasses import dataclass, field
import struct
import math
import time
Expand Down Expand Up @@ -82,25 +82,25 @@ def get_serial_number(self, tty_device:Path):
@dataclass
class GripperFault:
#Reactivation must be performed before any further movement.
reactivation_required: bool
reactivation_required: bool = False
#Activation bit must be set prior to action.
activation_required: bool
activation_required: bool = False
#Gripper's temperature has risen above 85C and it needs to cool down.
overheating: bool
overheating: bool = False
#There was no communication within the last second
communication_timeout: bool
communication_timeout: bool = False
#The voltage supplied to the gripper is below 21.6 Volts
undervoltage: bool
undervoltage: bool = False
#Automatic release in progress
is_auto_releasing: bool
is_auto_releasing: bool = False
#Automatic release completed
auto_release_completed: bool
auto_release_completed: bool = False
#Internal fault, contact manufacturer.
internal_fault: bool
internal_fault: bool = False
#Activation fault
activation_fault: bool
activation_fault: bool = False
#A current of more than 1 Amp. was supplied
overcurrent: bool
overcurrent: bool = False

@dataclass
class GripperStatus:
Expand All @@ -116,7 +116,7 @@ class GripperStatus:
is_reset: bool
is_activating: bool
is_activated: bool
fault: GripperFault = GripperFault(0,0,0,0,0,0,0,0,0,0)
fault: GripperFault = field(default_factory=GripperFault)


class Robotiq2F85Driver:
Expand Down Expand Up @@ -348,30 +348,30 @@ def read_status(self) -> GripperStatus:
fault_status_register, position_request_echo_register = struct.unpack("BB", values[1].to_bytes(2, "big"))
position_register, current_register = struct.unpack("BB", values[2].to_bytes(2, "big"))

status = GripperStatus

gripper_fault = GripperFault
gripper_fault.reactivation_required = bool(fault_status_register == 0x05)
gripper_fault.activation_required = bool(fault_status_register == 0x07)
gripper_fault.overheating = bool(fault_status_register == 0x08)
gripper_fault.undervoltage = bool(fault_status_register == 0x0A)
gripper_fault.is_auto_releasing = bool(fault_status_register == 0x0B)
gripper_fault.internal_fault = bool(fault_status_register == 0x0C)
gripper_fault.activation_fault = bool(fault_status_register == 0x0D)
gripper_fault.overcurrent = bool(fault_status_register == 0x0E)
gripper_fault.auto_release_completed= bool(fault_status_register == 0x0F)
status.fault = gripper_fault

status.activated = bool(gripper_status_register & 2**0)
status.moving = bool(gripper_status_register & 2**3) and (not bool(gripper_status_register & 2**6) and not bool(gripper_status_register & 2**7))
status.is_reset = not bool(gripper_status_register & 2**4) and not bool(gripper_status_register & 2**5)
status.is_activating = bool(gripper_status_register & 2**4) and not bool(gripper_status_register & 2**5)
status.is_activated = bool(gripper_status_register & 2**4) and bool(gripper_status_register & 2**5)
status.obj_detected = ( bool(gripper_status_register & 2**6) and not bool(gripper_status_register & 2**7) ) or ( not bool(gripper_status_register & 2**6) and bool(gripper_status_register & 2**7) )

status.goal_opening = self.count_to_opening(position_request_echo_register)
status.current = self.count_to_current(current_register)
status.opening = self.count_to_opening(position_register)
gripper_fault = GripperFault(
reactivation_required = bool(fault_status_register == 0x05),
activation_required = bool(fault_status_register == 0x07),
overheating = bool(fault_status_register == 0x08),
undervoltage = bool(fault_status_register == 0x0A),
is_auto_releasing = bool(fault_status_register == 0x0B),
internal_fault = bool(fault_status_register == 0x0C),
activation_fault = bool(fault_status_register == 0x0D),
overcurrent = bool(fault_status_register == 0x0E),
auto_release_completed= bool(fault_status_register == 0x0F),
)

status = GripperStatus(
activated = bool(gripper_status_register & 2**0),
moving = bool(gripper_status_register & 2**3) and (not bool(gripper_status_register & 2**6) and not bool(gripper_status_register & 2**7)),
current = self.count_to_current(current_register),
obj_detected = ( bool(gripper_status_register & 2**6) and not bool(gripper_status_register & 2**7) ) or ( not bool(gripper_status_register & 2**6) and bool(gripper_status_register & 2**7) ),
opening = self.count_to_opening(position_register),
goal_opening = self.count_to_opening(position_request_echo_register),
is_reset = not bool(gripper_status_register & 2**4) and not bool(gripper_status_register & 2**5),
is_activating= bool(gripper_status_register & 2**4) and not bool(gripper_status_register & 2**5),
is_activated = bool(gripper_status_register & 2**4) and bool(gripper_status_register & 2**5),
fault = gripper_fault,
)

#Print the status of the gripper
if self.debug:
Expand Down