Modular server redesign

[Finchiedev]

As part of the push towards RoboHUD v2.0.0, which focuses on a shift to a modular design and an improvement in code quality, the RoboCupServer-Current code, which enables driving, was identified as a major weak point in the stack. This pull request introduces a complete redesign of the server, towards a more modular, class based system that focuses on address descriptions rather than addresses themselves.

The code introduced in this pull request enables multiple Dynamixels to be connected to the server under different protocols, as well as unlocking functionality at a lower level, such as reading from any readable address.

The Dynamixel class introduced in dynamixels.py contains the following functionality:

• Read
• Write
• Joint/wheel mode
• Protocol 1 & 2 support

Additionally, dynamixels.py provides:

• Automatic U2D2 directory detection
• A function to initialise a Dynamixel based on the control table specified in a CSV (The client redesign will introduce code to parse the control table from the related Dynamixel EMANUAL and convert it into a CSV)

server.py features less drastic updates, instead implementing the Dynamixel class for the following to be able to:

• Move a Dynamixel as a wheel/joint depending on the current mode
• Read any valid address on a Dynamixel
• Modify any valid address on a Dynamixel
• Initialise/delete Dynamixels at any time
• Change the mode between wheel/joint of any Dynamixel at any time

Please feel free to comment with any queries, suggestions or issues before I merge this code!

[codeclimate[bot]]

Code Climate has analyzed commit 2ca99a51 and detected 6 issues on this pull request.

Here's the issue category breakdown:

Category	Count
Complexity	6

View more on Code Climate.