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Name the motor a failed sync read stopped at; release 1.12.0 - #153
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A sync read asks every motor at once, and its error said the bus failed
without saying where. The error is now a `SyncReadError { id, cause }`.
A plain sync read names the motor whose status packet did not come back.
A fast sync read names the first motor whose block is not there as
asked. The packet is now read without `read_exact`, which threw away
the bytes that arrived before a timeout -- and those bytes are what say
where the packet stopped. Missing, cut short, out of order and failing
its CRC all name that block's motor.
Assisted-by: Claude:claude-opus-5-5
Bump the crate version and turn the Unreleased changelog section into the 1.12.0 release notes: a failed sync read names the motor it stopped at (SyncReadError), and the Feetech STS3036 is registered under the STS3215 definition (#150). A fast sync read that times out now reports TimeoutError inside a SyncReadError, where it used to return the port's io::Error. Assisted-by: Claude:claude-opus-5-5
pierre-rouanet
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A sync read asks every motor at once, and its error said only that the bus failed. On a bus of fifteen servos, that means checking every cable instead of one.
A failed sync read now returns
SyncReadError { id, cause }, reached withdowncast_refand printed asmotor 4: Timeout error.idis the motor whose own status packet did not come back.idis the first motor whose block in the combined packet is not there as asked. That covers a block that is missing, cut short, out of order (Incorrect id) or failing its running CRC. The packet is no longer read withread_exact, which threw away the bytes that arrived before a timeout; those bytes show where the packet stopped. If nothing at all comes back, the error names the first motor, because the header goes out with its block.A motor behind a gap that answers in the missing motor's slot still has a valid CRC, since its CRC covers what it heard on the bus. The ID check catches it, so the error still names the missing motor. A test covers this case.
Behaviour change: a fast sync read that times out now reports
CommunicationErrorKind::TimeoutErroras the cause. It used to return the port'sio::Error. Any other I/O error from the port is still returned unchanged, without a motor ID, because it is the port's fault and not a motor's.Limit: the motors after the named one are not known to be fine. A cable that breaks at that motor silences everything past it as well.
Motivation:
microduck'srobotdreports "motor bus: N read failures running" with no way to say which servo. This is the first step toward reporting that.Release: the second commit bumps the version to 1.12.0 and turns the Unreleased changelog section into the 1.12.0 notes, which also cover the STS3036 entry (#150). Tagging
v1.12.0after the merge publishes it to crates.io and PyPI.🤖 Generated with Claude Code