Add API for getting hardware error status

[jonghee-son]

Added a new method, getHardwareError, in the Dynamixel2Arduino class to retrieve the hardware error status of a DYNAMIXEL actuator. This method includes logic to handle unsupported models and specific error codes.

[gemini-code-assist]

Hello @jonghee-son, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

Summary of Changes

This pull request introduces a new API method, getHardwareError, to the Dynamixel2Arduino class. This method retrieves the hardware error status of a DYNAMIXEL actuator. The implementation includes specific logic to handle unsupported DYNAMIXEL models, as well as specific error codes. Additionally, the PR renames the LED control table items to DXL_LED for clarity and consistency.

Highlights

• New API Method: A new method, getHardwareError, has been added to the Dynamixel2Arduino class to retrieve the hardware error status from a DYNAMIXEL actuator.
• Model Support: The getHardwareError method includes logic to handle specific DYNAMIXEL models, returning an error code if the model is not supported.
• LED Control Table Item Renaming: The control table items related to LED control have been renamed from LED to DXL_LED for better clarity and consistency.

Changelog

Click here to see the changelog

• src/Dynamixel2Arduino.cpp
  • Renamed LED control table items to DXL_LED when setting LED state for specific PRO models (lines 613, 614, 616, 620).
  • Added getHardwareError method to retrieve the hardware error status of a DYNAMIXEL actuator (lines 918-943).
  • The getHardwareError method handles unregistered models by attempting to set the model number (lines 923-927).
  • The getHardwareError method returns an error if the model is not supported (lines 929-932).
  • The getHardwareError method reads the ERROR_CODE control table item for specific YM models (lines 933-936).
  • The getHardwareError method reads the HARDWARE_ERROR_STATUS control table item for other models (lines 937-940).
• src/Dynamixel2Arduino.h
  • Added declaration of the getHardwareError method (lines 391-401).
  • Removed duplicate declaration of getHardwareError method (line 445).
• src/actuator.cpp
  • Renamed LED control table items to DXL_LED in various control table definitions (lines 36, 88, 147, 200, 478).
  • Renamed LED_RED, LED_GREEN, and LED_BLUE control table items to DXL_LED_RED, DXL_LED_GREEN, and DXL_LED_BLUE in the pro_r_control_table definition (lines 322-324).
  • Renamed LED_RED, LED_GREEN, and LED_BLUE control table items to DXL_LED_RED, DXL_LED_GREEN, and DXL_LED_BLUE in the pro_ra_pro_plus_control_table definition (lines 380-382).
• src/actuator.h
  • Renamed LED, LED_RED, LED_GREEN, and LED_BLUE control table items to DXL_LED, DXL_LED_RED, DXL_LED_GREEN, and DXL_LED_BLUE in the ControlTableItem namespace (lines 334-337).

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---

A new API,
Error status we can see,
Dynamixel sings.

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[gemini-code-assist]

Code Review

This pull request introduces a new method getHardwareError to the Dynamixel2Arduino class, which retrieves the hardware error status of a DYNAMIXEL actuator. The implementation includes handling for unsupported models and specific error codes. Overall, the changes seem well-structured and add valuable functionality to the library.

Summary of Findings

• Model Number Handling: The getHardwareError function attempts to retrieve the model number if it's unregistered. Consider adding a check to prevent infinite loops if setModelNumber consistently fails.
• Error Code Handling: The function sets a library error code for unsupported models but doesn't provide a mechanism for the user to retrieve the specific hardware error code for supported models. Consider returning the error code or providing a separate function to access it.
• Duplicated getHardwareError declaration: The getHardwareError method is declared twice in Dynamixel2Arduino.h, which is unnecessary.

Merge Readiness

The pull request introduces a useful feature, but there are a couple of issues that should be addressed before merging. Specifically, the potential for an infinite loop in getHardwareError and the duplicated declaration of the getHardwareError method should be fixed. I am unable to directly approve this pull request, and recommend that others review and approve this code before merging. At a minimum, the high severity issue should be addressed before merging.

[gemini-code-assist]

What happens if setModelNumber always returns false? This could lead to an infinite loop. Consider adding a counter or a boolean flag to prevent this.

Suggested change

	if(model_num == UNREGISTERED_MODEL){
	if(setModelNumber(id, getModelNumber(id)) == true){
	model_num = getModelNumberFromTable(id);
	}
	}
	if(model_num == UNREGISTERED_MODEL){
	static uint8_t retry_count = 0;
	if(setModelNumber(id, getModelNumber(id)) == true){
	model_num = getModelNumberFromTable(id);
	retry_count = 0; // reset the counter if successful
	} else {
	retry_count++;
	if (retry_count > 3) {
	setLastLibErrCode(D2A_LIB_ERROR_UNKNOWN_MODEL_NUMBER);
	return 0; // or some other appropriate error value
	}
	}
	}