From a8eb1f1907b8490baf2ce6a1fb477319d8331f33 Mon Sep 17 00:00:00 2001
From: Mark Snijder <snijderd@gmail.com>
Date: Thu, 29 Jun 2017 19:39:49 +0200
Subject: [PATCH 1/3] Reading entire motor configuration instead of every
 register every time. Increased ax-12a performance 16 times reading 18 servos
 in 0.05 seconds instead of .9ish. It's supposed to be dynamic, so it works
 for every motor, although not tested.

---
 dxl/dxlchain.py | 54 +++++++++++++++++++++++++++++++++++++++++++++++--
 1 file changed, 52 insertions(+), 2 deletions(-)

diff --git a/dxl/dxlchain.py b/dxl/dxlchain.py
index e5248b0..3c77572 100644
--- a/dxl/dxlchain.py
+++ b/dxl/dxlchain.py
@@ -427,9 +427,59 @@ def set_configuration(self,conf):
                     self.set_reg(iid,name,val) # if writable set it
 
     def dump(self):
-        """Obtain the motors chain configuration and dumps it on stdout"""
         conf=self.get_configuration()
-        print json.dumps(conf,indent=4,sort_keys=False)
+        dmp = json.dumps(conf,indent=4,sort_keys=False)
+        print dmp
+        return dmp
+
+    def get_configuration(self):
+        """ Gets the current configuration for all motors connected """
+        self.get_motor_list(broadcast=broadcast)
+
+        d = OrderedDict()
+
+        for (id, m) in self.motors.items():
+            dd = OrderedDict()
+            d[id] = dd
+
+            length, dump = self._get_configuration(m, id)
+
+            addr = 0
+            for value in dump:
+                name, length = m.getNameByAddr(addr)
+                if name is not None:
+                    dd[name] = m.registers[name].fromdxl([dump[addr], dump[addr + 1]])
+                addr = addr + 1
+
+        return d
+
+    def _get_configuration(self, motor, id):
+        with self.lock:
+            """ Reads all memory addresses of a certain motor """
+            offset = 0x00
+            length = self._getRegSize(motor)
+
+            checksumed_data = [id, 4, 2, offset, length]
+
+            data = "".join(map(chr, [0xFF, 0xFF] + checksumed_data + [self.checksum(checksumed_data)]))
+            self.port.write(data)
+            self.port.flushOutput()
+
+            rec = self._recv()
+
+            return length, rec[1]
+
+    def _get_reg_size(self, motor):
+        """ Gets the register size of a certain motor type as defined in dxlmotors """
+
+        minaddr = 0x00
+        maxaddr = 0x00
+        for reg in motor.registers:
+            addr = motor.registers[reg].address + (motor.registers[reg].size - 1)
+            if maxaddr < addr:
+                maxaddr = addr
+
+        return maxaddr - minaddr
 
     def get_motors(self,ids=None):
         """Return the list of all motors ids, or a specific set, or a single id"""        

From 8f734485285608df8343e113fc7f95fd40ca62d9 Mon Sep 17 00:00:00 2001
From: Mark Snijder <snijderd@gmail.com>
Date: Thu, 29 Jun 2017 19:41:11 +0200
Subject: [PATCH 2/3] Forgot to remove old get configuration.

---
 dxl/dxlchain.py | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/dxl/dxlchain.py b/dxl/dxlchain.py
index 3c77572..6c36db1 100644
--- a/dxl/dxlchain.py
+++ b/dxl/dxlchain.py
@@ -375,20 +375,6 @@ def get_motor_list(self,broadcast=True,instantiate=True):
             delay=time.time()-start
             logging.debug("get_motor_list delay: %f"%delay)
             return l
-
-    def get_configuration(self,broadcast=True):
-        """Obtain the list of motors on a chain, read and return their full configuration"""
-        self.get_motor_list(broadcast=broadcast)
-        start=time.time()
-        d=OrderedDict()
-        for (id,m) in self.motors.items():
-            dd=OrderedDict()
-            d[id]=dd
-            for (name,r) in m.registers.items():
-                dd[name]=self.get_reg(id,name)
-        delay=time.time()-start
-        logging.debug("get_configuration reg delay: %f"%delay)
-        return d
         
     def set_configuration(self,conf):
         """Compare the motors available on a chain to those specified in the provided configuration, silently try to set all registers, generates an exception if there is a mismatch"""

From ce5515dad115bcc18b4fa08f4d95c0bc2b669689 Mon Sep 17 00:00:00 2001
From: Mark Snijder <snijderd@gmail.com>
Date: Thu, 29 Jun 2017 19:42:09 +0200
Subject: [PATCH 3/3] Added a method that gets the name of an address.

---
 dxl/dxlcore.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/dxl/dxlcore.py b/dxl/dxlcore.py
index c09f6f3..2326cd6 100644
--- a/dxl/dxlcore.py
+++ b/dxl/dxlcore.py
@@ -61,7 +61,12 @@ def instantiateMotor(cls,id,model_number):
         mcls=cls.DxlModels[model_number]
         return mcls()
         
+    def getNameByAddr(self, addr):
+        for name in self.registers:
+            if self.registers[name].address == addr:
+                return name, self.registers[name].size
 
+        return None, None
         
     def getRegisterCmd(self,name):
         if not name in self.registers.keys():