v1.1.0

.github/workflows/compile.yml

@@ -0,0 +1,33 @@
+name: Test Compilation
+
+on:
+  push:
+    paths:
+      - "src/**/*.py"
+      - "pyproject.toml"
+      - "requirements.txt"
+      - ".github/workflows/compile.yml"
+  pull_request:
+    paths:
+      - "src/**/*.py"
+      - "pyproject.toml"
+      - "requirements.txt"
+      - ".github/workflows/compile.yml"
+
+jobs:
+  compile:
+    name: Library Compilation
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.x"
+      - name: Install build tools
+        run: |
+          pip install --upgrade pip
+          pip install -r requirements.txt
+          pip install build
+      - name: Attempt building wheel and sdist
+        run: python3 -m build --sdist --wheel

.github/workflows/release.yml

@@ -1,4 +1,4 @@
-name: Publish Python 🐍 distribution 📦 to PyPI and TestPyPI
+name: Build and Publish to PyPi
 
 on: push
 

.github/workflows/type-check.yml

@@ -0,0 +1,34 @@
+name: Type Check
+
+on:
+  push:
+    paths:
+      - "src/**/*.py"
+      - "pyproject.toml"
+      - "requirements.txt"
+      - ".github/workflows/type-check.yml"
+  pull_request:
+    paths:
+      - "src/**/*.py"
+      - "pyproject.toml"
+      - "requirements.txt"
+      - ".github/workflows/type-check.yml"
+
+jobs:
+  type-check:
+    name: Type Checking with mypy
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.x"
+      - name: Install dependencies
+        run: |
+          pip install --upgrade pip
+          pip install mypy
+          pip install -r requirements.txt
+          pip install .
+      - name: Run mypy
+        run: mypy src/

examples/14_change_id.py

@@ -5,8 +5,6 @@
 import os
 from python_st3215 import ST3215
 
-OLD_ID = 1
-NEW_ID = 5
 
 controller = ST3215(os.environ.get("ST3215_PORT", "/dev/ttyUSB0"))
 
@@ -15,7 +13,21 @@
     print("CHANGE SERVO ID")
     print("=" * 60)
     print("\nWARNING: Only connect ONE servo to avoid ID conflicts!")
-    print(f"This will change servo ID from {OLD_ID} to {NEW_ID}")
+
+    try:
+        old_id_input = input("\nEnter CURRENT Servo ID (default 1): ").strip()
+        OLD_ID = int(old_id_input) if old_id_input else 1
+
+        new_id_input = input("Enter NEW Servo ID: ").strip()
+        if not new_id_input:
+            print("New ID is required. Exiting.")
+            exit(1)
+        NEW_ID = int(new_id_input)
+    except ValueError:
+        print("Invalid input. Please enter numeric IDs.")
+        exit(1)
+
+    print(f"\nThis will change servo ID from {OLD_ID} to {NEW_ID}")
 
     response = input("\nType 'yes' to continue: ")
     if response.lower() != "yes":
@@ -26,8 +38,17 @@
         print(f"\nCurrent ID: {servo.eeprom.read_id()}")
         print(f"Changing to ID {NEW_ID}...")
 
+        # Unlock EEPROM to allow saving changes
+        print("Unlocking EEPROM...")
+        servo.sram.unlock()
+
+        print("Writing new ID...")
         servo.eeprom.write_id(NEW_ID)
 
+        # Lock EEPROM again (optional but recommended)
+        print("Locking EEPROM...")
+        servo.sram.lock()
+
         print("\nVerifying change...")
         new_servo = controller.wrap_servo(NEW_ID)
         confirmed_id = new_servo.eeprom.read_id()

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "python-st3215"
-version = "1.0.0"
+dynamic = ["version"]
 authors = [
   { name="Alessio D'Ambrosio", email="alessio@alessiodam.dev" },
 ]
@@ -26,6 +26,8 @@ classifiers = [
     "Programming Language :: Python :: 3.10",
     "Programming Language :: Python :: 3.11",
     "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
+    "Programming Language :: Python :: 3.14",
     "Operating System :: OS Independent",
     "License :: OSI Approved :: GNU General Public License v3 (GPLv3)"
 ]
@@ -39,3 +41,12 @@ Issues = "https://github.com/alessiodam/python-st3215/issues"
 [build-system]
 requires = ["hatchling >= 1.27"]
 build-backend = "hatchling.build"
+
+[tool.hatch.version]
+path = "src/python_st3215/__init__.py"
+
+[tool.mypy]
+python_version = "3.13"
+packages = ["python_st3215"]
+exclude = ["examples"]
+strict = true

requirements.txt

@@ -1 +1,2 @@
 pyserial>=3.5
+types-pyserial>=3.5

src/python_st3215/__init__.py

@@ -2,7 +2,7 @@
 from .errors import ST3215Error, ServoNotRespondingError, InvalidInstructionError
 from .servo import Servo
 
-__version__ = "1.0.0"
+__version__ = "1.1.0"
 
 __all__ = [
     "ST3215",

src/python_st3215/decorators.py

@@ -1,14 +1,16 @@
 from functools import wraps
-from typing import Callable
+from typing import Any, Callable, TypeVar
 
+F = TypeVar("F", bound=Callable[..., Any])
 
-def validate_servo_id(func: Callable) -> Callable:
+
+def validate_servo_id(func: Callable[..., Any]) -> Callable[..., Any]:
     """
     Decorator to validate servo ID is not broadcast ID (254).
     """
 
     @wraps(func)
-    def wrapper(self, servo_id: int, *args, **kwargs):
+    def wrapper(self: Any, servo_id: int, *args: Any, **kwargs: Any) -> Any:
         if servo_id == 254:
             from .errors import ST3215Error
 
@@ -18,13 +20,13 @@ def wrapper(self, servo_id: int, *args, **kwargs):
     return wrapper
 
 
-def validate_broadcast_only(func: Callable) -> Callable:
+def validate_broadcast_only(func: Callable[..., Any]) -> Callable[..., Any]:
     """
     Decorator to ensure operation is only used with broadcast servo (ID 254).
     """
 
     @wraps(func)
-    def wrapper(self, *args, **kwargs):
+    def wrapper(self: Any, *args: Any, **kwargs: Any) -> Any:
         if self.servo.id != 254:
             from .errors import ST3215Error
 
@@ -36,14 +38,16 @@ def wrapper(self, *args, **kwargs):
     return wrapper
 
 
-def validate_value_range(min_val: int, max_val: int) -> Callable:
+def validate_value_range(
+    min_val: int, max_val: int
+) -> Callable[[Callable[..., Any]], Callable[..., Any]]:
     """
     Decorator to validate that a value parameter is within the specified range.
     """
 
-    def decorator(func: Callable) -> Callable:
+    def decorator(func: Callable[..., Any]) -> Callable[..., Any]:
         @wraps(func)
-        def wrapper(self, value: int, *args, **kwargs):
+        def wrapper(self: Any, value: int, *args: Any, **kwargs: Any) -> Any:
             if not (min_val <= value <= max_val):
                 raise ValueError(
                     f"{func.__name__}: value {value} out of range [{min_val}, {max_val}]"
@@ -102,151 +106,3 @@ def encode_unsigned_word(value: int) -> tuple[int, int]:
     low = value & 0xFF
     high = (value >> 8) & 0xFF
     return low, high
-
-
-def write_method(address: int, size: int = 1, signed: bool = False):
-    """
-    Decorator factory to create write methods for memory addresses.
-
-    Args:
-        address: Memory address to write to
-        size: Size in bytes (1 or 2)
-        signed: Whether the value is signed (for 2-byte values)
-
-    Returns:
-        Decorator function
-    """
-
-    def decorator(func: Callable) -> Callable:
-        @wraps(func)
-        def wrapper(self, value: int, reg: bool = False):
-            write_fn = self.servo._reg_write_memory if reg else self.servo._write_memory
-            if size == 1:
-                return write_fn(address, [value & 0xFF])
-            elif size == 2:
-                if signed:
-                    low, high = encode_signed_word(value)
-                else:
-                    low, high = encode_unsigned_word(value)
-                return write_fn(address, [low, high])
-            raise ValueError(f"Unsupported size {size} for write_method.")
-
-        return wrapper
-
-    return decorator
-
-
-def read_method(address: int, size: int = 1, signed: bool = False):
-    """
-    Decorator factory to create read methods for memory addresses.
-
-    Args:
-        address: Memory address to read from
-        size: Size in bytes (1 or 2)
-        signed: Whether the value is signed (for 2-byte values)
-
-    Returns:
-        Decorator function
-    """
-
-    def decorator(func: Callable) -> Callable:
-        @wraps(func)
-        def wrapper(self):
-            raw = self.servo._read_memory(address, size)
-            if raw is None:
-                return None
-            if size == 2 and signed:
-                return decode_signed_word(raw)
-            return raw
-
-        return wrapper
-
-    return decorator
-
-
-def sync_write_method(address: int, size: int = 1, signed: bool = False):
-    """
-    Decorator factory to create sync write methods for broadcast operations.
-
-    Args:
-        address: Memory address to write to
-        size: Size in bytes (1 or 2)
-        signed: Whether the value is signed (for 2-byte values)
-
-    Returns:
-        Decorator function
-    """
-
-    def decorator(func: Callable) -> Callable:
-        @wraps(func)
-        @validate_broadcast_only
-        def wrapper(self, servo_data: dict[int, int]):
-            """
-            Perform SYNC WRITE to multiple servos.
-
-            Args:
-                servo_data: Dictionary mapping servo_id to value
-
-            Returns:
-                None (broadcast operation, no response)
-            """
-            formatted_data = {}
-            for servo_id, value in servo_data.items():
-                if size == 1:
-                    formatted_data[servo_id] = [value & 0xFF]
-                elif size == 2:
-                    if signed:
-                        low, high = encode_signed_word(value)
-                    else:
-                        low, high = encode_unsigned_word(value)
-                    formatted_data[servo_id] = [low, high]
-            return self.servo._sync_write(address, size, formatted_data)
-
-        return wrapper
-
-    return decorator
-
-
-def sync_read_method(address: int, size: int = 1, signed: bool = False):
-    """
-    Decorator factory to create sync read methods for broadcast operations.
-
-    Args:
-        address: Memory address to read from
-        size: Size in bytes (1 or 2)
-        signed: Whether the value is signed (for 2-byte values)
-
-    Returns:
-        Decorator function
-    """
-
-    def decorator(func: Callable) -> Callable:
-        @wraps(func)
-        @validate_broadcast_only
-        def wrapper(self, servo_ids: list[int]):
-            """
-            Perform SYNC READ from multiple servos.
-
-            Args:
-                servo_ids: List of servo IDs to query
-
-            Returns:
-                Dictionary mapping servo_id to value
-            """
-            responses = self.servo._sync_read(address, size, servo_ids)
-            results = {}
-            for servo_id, response in responses.items():
-                if response and response.get("parameters"):
-                    data = response["parameters"]
-                    if size == 1:
-                        results[servo_id] = data[0]
-                    elif size == 2:
-                        raw = data[0] | (data[1] << 8)
-                        results[servo_id] = decode_signed_word(raw) if signed else raw
-                else:
-                    results[servo_id] = None
-            return results
-
-        return wrapper
-
-    return decorator