From 6972852dbbffc18f283cc32717346269495273c4 Mon Sep 17 00:00:00 2001
From: Igor Brylev <movefasta@robossembler.org>
Date: Mon, 9 Jun 2025 12:01:44 +0300
Subject: [PATCH] ping

---
 ping.py | 68 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 68 insertions(+)
 create mode 100644 ping.py

diff --git a/ping.py b/ping.py
new file mode 100644
index 0000000..2761943
--- /dev/null
+++ b/ping.py
@@ -0,0 +1,68 @@
+import os
+
+if os.name == 'nt':
+    import msvcrt
+    def getch():
+        return msvcrt.getch().decode()
+else:
+    import sys, tty, termios
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    def getch():
+        try:
+            tty.setraw(sys.stdin.fileno())
+            ch = sys.stdin.read(1)
+        finally:
+            termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+        return ch
+
+from dynamixel_sdk import *                 # Uses DYNAMIXEL SDK library
+
+# Protocol version
+PROTOCOL_VERSION        = 2.0               # See which protocol version is used in the Dynamixel
+
+# Default setting
+BAUDRATE                = 2000000             # Dynamixel default baudrate : 57600
+DEVICENAME              = '/dev/ttyUSB0'    # Check which port is being used on your controller
+                                            # ex) Windows: "COM1"   Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"
+
+# Initialize PortHandler instance
+# Set the port path
+# Get methods and members of PortHandlerLinux or PortHandlerWindows
+portHandler = PortHandler(DEVICENAME)
+
+# Initialize PacketHandler instance
+# Set the protocol version
+# Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
+packetHandler = PacketHandler(PROTOCOL_VERSION)
+
+# Open port
+if portHandler.openPort():
+    print("Succeeded to open the port")
+else:
+    print("Failed to open the port")
+    print("Press any key to terminate...")
+    getch()
+    quit()
+
+
+# Set port baudrate
+if portHandler.setBaudRate(BAUDRATE):
+    print("Succeeded to change the baudrate")
+else:
+    print("Failed to change the baudrate")
+    print("Press any key to terminate...")
+    getch()
+    quit()
+
+# Try to broadcast ping the Dynamixel
+dxl_data_list, dxl_comm_result = packetHandler.broadcastPing(portHandler)
+if dxl_comm_result != COMM_SUCCESS:
+    print("%s" % packetHandler.getTxRxResult(dxl_comm_result))
+
+print("Detected Dynamixel :")
+for dxl_id in dxl_data_list:
+    print("[ID:%03d] model version : %d | firmware version : %d" % (dxl_id, dxl_data_list.get(dxl_id)[0], dxl_data_list.get(dxl_id)[1]))
+
+# Close port
+portHandler.closePort()