Update CML protocol documentation and improve command handling; adjust motion_capture setting to false

1 files changed, 74 insertions, 44 deletions

diff --git a/api_layers/protocols/cml.py b/api_layers/protocols/cml.py
index 6bc85f0..113afe7 100644
--- a/api_layers/protocols/cml.py
+++ b/api_layers/protocols/cml.py
@@ -1,36 +1,38 @@
 """
 api_layers/protocols/cml.py
 
-CoolMuscle Language (CML) protocol layer.
+CoolMuscle CM1-C ASCII (CML) protocol layer.
 
-For CoolMuscle CM-series servo motors over RS-232 (single axis)
-or RS-485 (multi-drop, up to 31 axes).
+Wire format — see docs/CM1-C_ASCII_Command_Cheatsheet.md:
+  <CMD>.<motor_id>[=<value>]\\r
+  e.g. "S0.1=20\\r" (set speed register), "?97.1\\r" (query speed),
+       "^.1\\r" (execute), "(.1\\r" (enable), ").1\\r" (disable), "].1\\r" (stop)
 
-Frame format
-─────────────
-  RS-232 (address=0):
-    Command:   <CMD>[<data>]\\r
-    Response:  <CMD>[<data>]\\r        (echo-back)
+Motor ID is always appended explicitly as ".<id>" on every command — there is
+no address-less / prefix-free mode.
 
-  RS-485 (address 1-31):
-    Command:   #<addr><CMD>[<data>]\\r
-    Response:  *<addr><CMD>[<data>]\\r
+Terminator is CR only (default K70 setting). Replies are read up to that CR
+with Serial.read_until(b"\\r") rather than readline(), since pyserial's
+readline() looks for LF by default and would otherwise block for the full
+serial timeout on every single query.
 
 Read commands (query current state):
-  TP  — Tell absolute position  (encoder counts, signed)
-  TV  — Tell velocity           (counts/second, signed)
-  TC  — Tell current            (% rated × 10, unsigned)
-  TS  — Tell status word        (hex flags)
+  TP  — current position  (?96, pulses, signed)
+  TV  — current speed     (?97, unit set by K37, signed)
+  TC  — averaged current  (?98, % rated, unsigned)
+  TS  — motor status      (?99, bit field — see cheatsheet)
 
 Write commands (control):
-  ME  — Motor Enable
-  MD  — Motor Disable
-  MA<value>  — Move Absolute (encoder counts)
-  MR<value>  — Move Relative (encoder counts)
-  VS<value>  — Velocity Setpoint
+  ME  — Motor Enable   ("(")
+  MD  — Motor Disable  (")")
+  ST  — Immediate stop ("]")
+  VS<value>  — Velocity setpoint: sets a large P0 target (direction via sign
+               of S0) then executes with "^" — continuous rotation until
+               stopped (S0=0 or ST/MD).
+  MA<value>  — Move absolute: sets P0 to <value> then executes with "^".
 
 Channel IDs follow pattern:  <motor_id>_<CMD>
-  e.g. "M1_TP", "M1_TV", "M2_TC"
+  e.g. "M1_TP", "M1_VS", "M2_TC"
 """
 
 import math
@@ -41,15 +43,19 @@ from typing import Dict, List, Optional
 from api_layers.protocols.base_protocol import BaseProtocol
 
 
-_READ_CMDS  = ["TP", "TV", "TC", "TS"]
-_RESP_RE    = re.compile(r"[*@]?\d*([A-Z]{2})([\s\S]*)")
-_NUM_RE     = re.compile(r"[+-]?\d+")
+_QUERY_CMDS = {"TP": "?96", "TV": "?97", "TC": "?98", "TS": "?99"}
+_NUM_RE     = re.compile(r"[+-]?\d+\.?\d*")
+
+# Position target for velocity-mode continuous rotation — direction comes
+# from the sign of S0, not this value, so it just needs to be far enough
+# away that the move never completes on its own.
+_CONTINUOUS_POSITION = 1_000_000_000
 
 
 @dataclass
 class CMLMotor:
     motor_id:  str
-    address:   int        = 1          # 0 = RS-232 (no address prefix)
+    address:   int        = 1          # CM1-C motor ID, always sent as ".<address>"
     read_cmds: List[str]  = field(default_factory=lambda: ["TP", "TV", "TC"])
 
 
@@ -66,17 +72,27 @@ class CMLLayer(BaseProtocol):
         super().__init__(port, baud, poll_interval, simulate)
         self.motors = motors or [CMLMotor("M1", address=1)]
 
+    # ── Low-level I/O ─────────────────────────────────────────────────────
+
+    def _send(self, address: int, cmd: str, value: Optional[int] = None) -> None:
+        suffix = f"={value}" if value is not None else ""
+        frame  = f"{cmd}.{address}{suffix}\r".encode()
+        self._ser.reset_input_buffer()
+        self._ser.write(frame)
+        self._ser.flush()
+
+    def _read_reply(self) -> str:
+        return self._ser.read_until(b"\r").decode(errors="replace").strip()
+
     # ── Protocol ──────────────────────────────────────────────────────────
 
     def _send_query(self, motor: CMLMotor, cmd: str) -> Optional[float]:
-        if motor.address == 0:
-            frame = f"{cmd}\r".encode()
-        else:
-            frame = f"#{motor.address}{cmd}\r".encode()
+        query = _QUERY_CMDS.get(cmd)
+        if query is None:
+            return None
         with self._io_lock:
-            self._ser.write(frame)
-            self._ser.flush()
-            resp = self._ser.readline().decode(errors="replace").strip()
+            self._send(motor.address, query)
+            resp = self._read_reply()
         return _parse_cml_response(resp)
 
     def _poll(self) -> Dict[str, float]:
@@ -111,8 +127,7 @@ class CMLLayer(BaseProtocol):
         return result
 
     def write(self, channel_id: str, value) -> bool:
-        # channel_id: "<motor_id>_<CMD>[<data>]"
-        # e.g. "M1_ME", "M1_MA" (value carries position)
+        # channel_id: "<motor_id>_<CMD>"  e.g. "M1_ME", "M1_VS" (value carries speed)
         parts = channel_id.split("_", 1)
         if len(parts) != 2:
             return False
@@ -123,23 +138,38 @@ class CMLLayer(BaseProtocol):
         if self.simulate:
             return True
         try:
-            data = "" if cmd in ("ME", "MD") else str(int(value))
-            if motor.address == 0:
-                frame = f"{cmd}{data}\r".encode()
-            else:
-                frame = f"#{motor.address}{cmd}{data}\r".encode()
             with self._io_lock:
-                self._ser.write(frame)
-                self._ser.flush()
-                self._ser.readline()  # discard echo-back so it doesn't desync the next poll read
+                if cmd == "ME":
+                    self._send(motor.address, "(")
+                    self._read_reply()
+                elif cmd == "MD":
+                    self._send(motor.address, ")")
+                    self._read_reply()
+                elif cmd == "ST":
+                    self._send(motor.address, "]")
+                    self._read_reply()
+                elif cmd == "VS":
+                    self._send(motor.address, "P0", _CONTINUOUS_POSITION)
+                    self._read_reply()
+                    self._send(motor.address, "S0", int(value))
+                    self._read_reply()
+                    self._send(motor.address, "^")
+                    self._read_reply()
+                elif cmd == "MA":
+                    self._send(motor.address, "P0", int(value))
+                    self._read_reply()
+                    self._send(motor.address, "^")
+                    self._read_reply()
+                else:
+                    return False
             return True
         except Exception:
             return False
 
 
 def _parse_cml_response(resp: str) -> Optional[float]:
-    """Extract numeric value from CML response like '*1TP+001234'."""
-    m = _NUM_RE.search(resp[3:] if resp and resp[0] in "*@#" else resp)
+    """Extract the first numeric value from a CM1-C reply."""
+    m = _NUM_RE.search(resp)
     if m:
         return float(m.group())
     return None