fix conversions

SoloPy/SOLOMotorControllersCanopen.py

@@ -3,7 +3,7 @@
 #  @brief   This file contains all the functions for the Solo Canopen Drivers 
 #           Availability: https://github.com/Solo-FL/SoloPy/tree/main/SoloPy
 #  @date    Date: 2023
-#  @version 3.1.2
+#  @version 3.1.3
 
 ## @attention
 # Copyright: (c) 2021-2023 SOLO motor controllers project
@@ -1652,7 +1652,7 @@ def get_position_counts_feedback(self) -> list:
         result, error, informationReceived = self.CANOpenReceive(
             self._address, ConstantCanopen.Object_PositionCountsFeedback, informationToSend)
         if (error == ERROR.NO_ERROR_DETECTED) and (result is True):
-            return convert_from_data(informationReceived, DATA_TYPE.UINT32), error
+            return convert_from_data(informationReceived, DATA_TYPE.INT32), error
         return -1, error
 
     ##
@@ -1756,7 +1756,7 @@ def get_position_reference(self) -> list:
         result, error, informationReceived = self.CANOpenReceive(
             self._address, ConstantCanopen.Object_PositionReference, informationToSend)
         if (error == ERROR.NO_ERROR_DETECTED) and (result is True):
-            return convert_from_data(informationReceived, DATA_TYPE.UINT32), error
+            return convert_from_data(informationReceived, DATA_TYPE.INT32), error
         return -1, error
 
     ##

SoloPy/SOLOMotorControllersUtils.py

@@ -4,7 +4,7 @@
 # Title: SoloPy
 # Author: SOLOMotorControllers
 # Date: 2023
-# Code version: 3.1.1
+# Code version: 3.1.3
 # Availability: https://github.com/Solo-FL/SoloPy/tree/main/SoloPy
 # This Library is made by SOLOMotorControllers.COM
 # please visit:  https://www.SOLOMotorControllers.com/
@@ -16,18 +16,35 @@
 def convert_to_data(number, dataType: DATA_TYPE) -> list:
     data = []
     if (dataType == DATA_TYPE.SFXT):
-        dec = math.ceil(number * 131072)
-        if dec < 0:
-            dec *= -1
-            dec = 0xFFFFFFFF - dec
-        data = [(dec >> i & 0xff) for i in (24, 16, 8, 0)]
+        data = SFXT_to_data(number)
 
-    if (dataType == DATA_TYPE.UINT32 or dataType == DATA_TYPE.INT32):
-        dec = number
-        data = [(dec >> i & 0xff) for i in (24, 16, 8, 0)]
+    if ( dataType == DATA_TYPE.INT32):
+        data = INT32_to_data(number)
+
+    if (dataType == DATA_TYPE.UINT32):
+        data = UINT32_to_data(number)
+
+    return data
+
+def SFXT_to_data(number) -> list:
+    data = []
+    dec = math.ceil(number * 131072)
+    if dec < 0:
+        dec *= -1
+        dec = 0xFFFFFFFF - dec
+    data = [(dec >> i & 0xff) for i in (24, 16, 8, 0)]
+    return data
 
+def UINT32_to_data(number) -> list:
+    dec = number
+    data = [(dec >> i & 0xff) for i in (24, 16, 8, 0)]
     return data
 
+def INT32_to_data(number) -> list:
+    i32Value = number * 1;
+    if (i32Value < 0):
+        i32Value = 4294967295 - abs(i32Value) + 1;
+    return UINT32_to_data(i32Value)
 
 def convert_from_data(data, dataType: DATA_TYPE):
     if (dataType == DATA_TYPE.SFXT):
@@ -39,7 +56,6 @@ def convert_from_data(data, dataType: DATA_TYPE):
     if (dataType == DATA_TYPE.UINT32):
         return convert_to_long(data)
 
-
 def convert_to_float(data) -> float:
     dec = 0
     dec = int.from_bytes(
@@ -50,23 +66,20 @@ def convert_to_float(data) -> float:
     else:
         dec = 0xFFFFFFFF - dec + 1
         value = ((float)(dec / 131072.0)) * -1
-        return float(format(value, 'f'))  # .8f
-
+        return float(format(value, '.8f'))  # .8f
 
 def convert_to_long(data) -> int:
     dec = 0
     dec = int.from_bytes(
         [data[0], data[1], data[2], data[3]], byteorder='big', signed=False)
     return dec
 
-
 def convert_to_int(data) -> int:
-    dec = 0
-    dec = int.from_bytes(
-        [data[0], data[1], data[2], data[3]], byteorder='big', signed=True)
+    dec = convert_to_long(data)
+    if (dec > 2147483647):
+        dec = (4294967295 - dec + 1)*-1
     return dec
 
-
 def ExtractData(Data: list) -> list:
     ExtractedData = [0, 0, 0, 0]
     if(len(Data)>=8):
@@ -76,13 +89,11 @@ def ExtractData(Data: list) -> list:
         ExtractedData[3] = Data[4]
     return ExtractedData
 
-
 def get_data(cmd: list) -> list:
     return [cmd[2], cmd[3], cmd[4], cmd[5]]
 
 # -- input Validation
 
-
 def set_guard_time_input_validation(guardtime: int) -> list:
     if (guardtime < 0 or guardtime > 65535):
         return False, ERROR.OUT_OF_RANGE_SETTING, ConstantCommon.InputOutOfRange

setup.py

@@ -2,13 +2,13 @@
 setup(
   name = 'SoloPy',        
   packages = ['SoloPy'],  
-  version = 'v3.1.2',      
+  version = 'v3.1.3',      
   license='gpl-3.0',      
   description = 'PYTHON Library for Control Solo Motor',   
   author = 'Solo',                  
   author_email = 'support@solomotorcontrollers.com',      
   url = 'https://github.com/Solo-FL/SoloPy',   
-  download_url = 'https://github.com/Solo-FL/SoloPy/archive/refs/tags/v3.1.2.tar.gz',    
+  download_url = 'https://github.com/Solo-FL/SoloPy/archive/refs/tags/v3.1.3.tar.gz',    
   keywords = ['Solo Motor controllers', 'Solo', 'SoloPy'],   
   install_requires=[           
           'pyserial==3.5',

tests/test_SOLOMotorControllersUart.py

@@ -81,4 +81,16 @@ def general_setget_test(functionSet, functionGet, valueToSet):
 #     isSet, error = solo.set_current_limit(setValue)
 #     assert isSet == True
 #     getValue, error = solo.get_current_limit()
-#     assert setValue == getValue
+#     assert setValue == getValue
+
+
+# snippet for conversion test
+# data=b'\xff\xff\xf2\x54'
+
+# print(convert_to_int(data))
+# print(convert_to_long(data))
+# print(convert_to_float(data))
+
+# print(convert_to_data(convert_to_int(data), DATA_TYPE.INT32))
+# print(convert_to_data(convert_to_long(data), DATA_TYPE.UINT32))
+# print(convert_to_data(convert_to_float(data), DATA_TYPE.SFXT))