507 motor constants setter only called when full motor constants object is supplied instead of at attribute change

opensourceleg/actuators/base.py

@@ -25,12 +25,12 @@
 
 
 @dataclass
-class MOTOR_CONSTANTS:
+class MotorConstants:
     """
     Class to define the motor constants.
 
     Examples:
-        >>> constants = MOTOR_CONSTANTS(
+        >>> constants = MotorConstants(
         ...     MOTOR_COUNT_PER_REV=2048,
         ...     NM_PER_AMP=0.02,
         ...     NM_PER_RAD_TO_K=0.001,
@@ -59,21 +59,23 @@ class MOTOR_CONSTANTS:
     WINDING_SOFT_LIMIT: float = 70.0  # soft winding limit (°C)
     CASE_SOFT_LIMIT: float = 60.0  # soft case limit (°C)
 
+    on_change: Optional[Callable[[], None]] = None  # Callback when any attribute changes
+
     def __post_init__(self) -> None:
         """
         Function to validate the motor constants and thermal parameters.
 
         Examples:
             >>> # This will raise a ValueError because a negative value is invalid.
-            >>> MOTOR_CONSTANTS(
+            >>> MotorConstants(
             ...     MOTOR_COUNT_PER_REV=-2048,
             ...     NM_PER_AMP=0.02,
             ...     MAX_CASE_TEMPERATURE=80.0,
             ...     MAX_WINDING_TEMPERATURE=120.0
             ... )
         """
-        if any(x <= 0 for x in self.__dict__.values()):
-            raise ValueError("All values in MOTOR_CONSTANTS must be non-zero and positive.")
+        if any(x <= 0 for name, x in self.__dict__.items() if isinstance(x, (int, float)) and name != "on_change"):
+            raise ValueError("All numeric values in MotorConstants must be non-zero and positive.")
 
         # Validate thermal safety limits
         if self.MAX_WINDING_TEMPERATURE <= self.MAX_CASE_TEMPERATURE:
@@ -83,6 +85,15 @@ def __post_init__(self) -> None:
         if self.CASE_SOFT_LIMIT >= self.MAX_CASE_TEMPERATURE:
             raise ValueError("CASE_SOFT_LIMIT must be less than MAX_CASE_TEMPERATURE")
 
+    def __setattr__(self, name: str, value: Any) -> None:
+        """
+        Override setattr to call on_change callback when attributes are modified.
+        """
+        super().__setattr__(name, value)
+        # Call callback if it exists and the attribute is not the callback itself
+        if name != "on_change" and self.on_change is not None:
+            self.on_change()
+
     @property
     def RAD_PER_COUNT(self) -> float:
         """
@@ -92,7 +103,7 @@ def RAD_PER_COUNT(self) -> float:
             float: Radians per count.
 
         Examples:
-            >>> constants = MOTOR_CONSTANTS(2048, 0.02, 0.001, 0.0001, 80.0, 120.0)
+            >>> constants = MotorConstants(2048, 0.02, 0.001, 0.0001, 80.0, 120.0)
             >>> constants.RAD_PER_COUNT
             0.0030679615757712823
         """
@@ -107,7 +118,7 @@ def NM_PER_MILLIAMP(self) -> float:
             float: NM per milliamp.
 
         Examples:
-            >>> constants = MOTOR_CONSTANTS(2048, 0.02, 0.001, 0.0001, 80.0, 120.0)
+            >>> constants = MotorConstants(2048, 0.02, 0.001, 0.0001, 80.0, 120.0)
             >>> constants.NM_PER_MILLIAMP
             2e-05
         """
@@ -427,7 +438,7 @@ def __init__(
         self,
         tag: str,
         gear_ratio: float,
-        motor_constants: MOTOR_CONSTANTS,
+        motor_constants: MotorConstants,
         frequency: int = 1000,
         offline: bool = False,
         **kwargs: Any,
@@ -438,7 +449,7 @@ def __init__(
         Args:
             tag (str): A unique identifier for the actuator.
             gear_ratio (float): The gear ratio of the actuator.
-            motor_constants (MOTOR_CONSTANTS): Motor constant configuration parameters.
+            motor_constants (MotorConstants): Motor constant configuration parameters.
             frequency (int, optional): Control frequency in Hz. Defaults to 1000.
             offline (bool, optional): Flag indicating if the actuator operates in offline mode. Defaults to False.
             **kwargs (Any): Additional keyword arguments.
@@ -447,10 +458,10 @@ def __init__(
             >>> actuator = DummyActuator(
             ...     tag="act1",
             ...     gear_ratio=100,
-            ...     motor_constants=MOTOR_CONSTANTS(2048, 0.02, 0.001, 0.0001, 80.0, 120.0)
+            ...     motor_constants=MotorConstants(2048, 0.02, 0.001, 0.0001, 80.0, 120.0)
             ... )
         """
-        self._MOTOR_CONSTANTS: MOTOR_CONSTANTS = motor_constants
+        self.MOTOR_CONSTANTS: MotorConstants = motor_constants
         self._gear_ratio: float = gear_ratio
         self._tag: str = tag
         self._frequency: int = frequency
@@ -991,7 +1002,7 @@ def motor_torque(self) -> float:
         pass
 
     @property
-    def MOTOR_CONSTANTS(self) -> MOTOR_CONSTANTS:
+    def MOTOR_CONSTANTS(self) -> MotorConstants:
         """
         Get the motor constants configuration.
 
@@ -1006,21 +1017,33 @@ def MOTOR_CONSTANTS(self) -> MOTOR_CONSTANTS:
         return self._MOTOR_CONSTANTS
 
     @MOTOR_CONSTANTS.setter
-    def MOTOR_CONSTANTS(self, value: MOTOR_CONSTANTS) -> None:
+    def MOTOR_CONSTANTS(self, value: MotorConstants) -> None:
         """
         Set the motor constants configuration.
 
         Args:
-            value (MOTOR_CONSTANTS): The new motor constants to set.
+            value (MotorConstants): The new motor constants to set.
 
         Examples:
-            >>> new_constants = MOTOR_CONSTANTS(2048, 0.03, 0.001, 0.0001, 85.0, 125.0)
+            >>> new_constants = MotorConstants(2048, 0.03, 0.001, 0.0001, 85.0, 125.0)
             >>> actuator.MOTOR_CONSTANTS = new_constants
             >>> actuator.MOTOR_CONSTANTS.MAX_CASE_TEMPERATURE
             85.0
         """
+        if not isinstance(value, MotorConstants):
+            raise TypeError(f"Expected MotorConstants, got {type(value)}")
+
+        # Copy callback from old MOTOR_CONSTANTS to new one if it exists
+        old_constants = getattr(self, "_MOTOR_CONSTANTS", None)
+        if old_constants is not None and hasattr(old_constants, "on_change") and old_constants.on_change is not None:
+            value.on_change = old_constants.on_change
+
         self._MOTOR_CONSTANTS = value
 
+        # Call the callback if it exists and is callable (to update derived constants)
+        if hasattr(value, "on_change") and callable(value.on_change):
+            value.on_change()
+
     @property
     def mode(self) -> CONTROL_MODES:
         """
@@ -1103,7 +1126,7 @@ def max_case_temperature(self) -> float:
             >>> actuator.max_case_temperature
             80.0
         """
-        return self._MOTOR_CONSTANTS.MAX_CASE_TEMPERATURE
+        return self.MOTOR_CONSTANTS.MAX_CASE_TEMPERATURE
 
     @property
     @abstractmethod
@@ -1153,7 +1176,7 @@ def max_winding_temperature(self) -> float:
             >>> actuator.max_winding_temperature
             120.0
         """
-        return self._MOTOR_CONSTANTS.MAX_WINDING_TEMPERATURE
+        return self.MOTOR_CONSTANTS.MAX_WINDING_TEMPERATURE
 
     @property
     def motor_zero_position(self) -> float:

opensourceleg/actuators/dephy.py

@@ -10,10 +10,10 @@
 from opensourceleg.actuators.base import (
     CONTROL_MODE_CONFIGS,
     CONTROL_MODES,
-    MOTOR_CONSTANTS,
     ActuatorBase,
     ControlGains,
     ControlModeConfig,
+    MotorConstants,
 )
 from opensourceleg.actuators.decorators import (
     check_actuator_connection,
@@ -42,7 +42,7 @@
 IMPEDANCE_C = 0.0007812
 
 
-DEPHY_ACTUATOR_CONSTANTS = MOTOR_CONSTANTS(
+DEPHY_ACTUATOR_CONSTANTS = MotorConstants(
     MOTOR_COUNT_PER_REV=16384,
     NM_PER_AMP=0.1133,
     MAX_CASE_TEMPERATURE=80,
@@ -151,8 +151,8 @@ def __init__(
             offline=offline,
         )
 
-        # Override motor constants to ensure setter is called
-        self.MOTOR_CONSTANTS = DEPHY_ACTUATOR_CONSTANTS
+        self.MOTOR_CONSTANTS.on_change = self._update_derived_constants
+        self._update_derived_constants()
 
         self._debug_level: int = debug_level if dephy_log else 6
         self._dephy_log: bool = dephy_log
@@ -695,37 +695,6 @@ def set_motor_impedance(
             b=int(b * self.NM_S_PER_RAD_TO_MOTOR_UNITS),
         )
 
-    @property
-    def MOTOR_CONSTANTS(self) -> MOTOR_CONSTANTS:
-        """
-        Get the motor constants configuration.
-        Redefines the property from the ABC so we can set a setter.
-
-        Returns:
-            MOTOR_CONSTANTS: The motor constants.
-
-        Examples:
-            >>> constants = actuator.MOTOR_CONSTANTS
-            >>> constants.MAX_CASE_TEMPERATURE
-            80.0
-        """
-        return self._MOTOR_CONSTANTS
-
-    @MOTOR_CONSTANTS.setter
-    def MOTOR_CONSTANTS(self, value: MOTOR_CONSTANTS) -> None:
-        """
-        Setter for MOTOR_CONSTANTS property.
-        Updates the motor constants and recalculates derived conversion factors.
-
-        Args:
-            value (MOTOR_CONSTANTS): New motor constants to set.
-        """
-
-        if not isinstance(value, MOTOR_CONSTANTS):
-            raise TypeError(f"Expected MOTOR_CONSTANTS, got {type(value)}")
-        self._MOTOR_CONSTANTS = value
-        self._update_derived_constants()
-
     def _update_derived_constants(self) -> None:
         """
         Recalculate conversion factors based on current motor constants.

opensourceleg/actuators/moteus.py

@@ -10,10 +10,10 @@
 from opensourceleg.actuators.base import (
     CONTROL_MODE_CONFIGS,
     CONTROL_MODES,
-    MOTOR_CONSTANTS,
     ActuatorBase,
     ControlGains,
     ControlModeConfig,
+    MotorConstants,
 )
 from opensourceleg.actuators.decorators import (
     check_actuator_connection,
@@ -43,7 +43,7 @@
 
 RAD_PER_DEG = np.pi / 180
 
-MOTEUS_ACTUATOR_CONSTANTS = MOTOR_CONSTANTS(
+MOTEUS_ACTUATOR_CONSTANTS = MotorConstants(
     MOTOR_COUNT_PER_REV=16384,
     NM_PER_AMP=0.1133,
     MAX_CASE_TEMPERATURE=80,

opensourceleg/math/math.py

@@ -3,7 +3,7 @@
 
 import numpy as np
 
-from opensourceleg.actuators.base import MOTOR_CONSTANTS
+from opensourceleg.actuators.base import MotorConstants
 
 # Sensor validation constants
 MIN_SENSIBLE_CURRENT = -80000.0  # -80A in mA
@@ -63,20 +63,20 @@ class ThermalModel:
         - Soft-limiting thermal safety controller with formal guarantees
         - Physically sensible value validation with slope-based projection
         - Backward compatible API with enhanced methods
-        - Motor-specific parameter configuration via MOTOR_CONSTANTS
+        - Motor-specific parameter configuration via MotorConstants
 
     Authors:
         - Gray Thomas, Senthur Ayyappan
 
     Args:
-        motor_constants: MOTOR_CONSTANTS instance with thermal parameters
+        motor_constants: MotorConstants instance with thermal parameters
         actuator_tag: Actuator identifier for error messages. Defaults to "actuator"
         ambient_temperature: Ambient temperature in °C. Defaults to 21.0
     """
 
     def __init__(
         self,
-        motor_constants: MOTOR_CONSTANTS,
+        motor_constants: MotorConstants,
         actuator_tag: str = "actuator",
         ambient_temperature: float = 21.0,
     ) -> None: