def bulk_read()

in groups/arm/ggd/servo/servode.py [0:0]
56 lines of code
10 McCabe index (conditional complexity)

    def bulk_read(self, read_blocks):
        """

        :param read_blocks: a list of dicts in the following format which
        describe which registers to read from which servos.
         { "blocks": [
                { "servo_id": sid, "register": register },
                { "servo_id": sid, "register": register },
                ...
            ]
         }
        :return: new read_blocks dict now with values included.
        { "blocks": [
            { "servo_id": sid, "register": register,
                "value": value, "ts": timestamp },
            { "servo_id": sid, "register": register,
                "value": value, "ts": timestamp },
                ...
            ]
         }
        """
        if self.servo_type == AX_12_TYPE and \
                self.protocol_version == PROTOCOL_V:
            raise NotImplementedError("AX-12 Servos do not support bulk_read.")

        response = {"blocks": []}
        group_num = groupBulkRead(self.port_num, self.protocol_version)
        log.info("[bulk_read] read group_num:{0}".format(group_num))

        for block in read_blocks['blocks']:
            # loop through blocks to add each as a param to the bulk_read group
            sid = block['servo_id']
            register = block['register']
            last_result = groupBulkReadAddParam(
                group_num, sid,
                dxl_control[register]['address'],
                dxl_control[register]['comm_bytes']
            )
            if last_result != 1:
                err = "[bulk_read] add read param fail on servo_id:{0}".format(
                    sid
                )
                log.error(err)
                raise IOError(err)

        groupBulkReadTxRxPacket(group_num)
        ts = datetime.datetime.now().isoformat()

        last_result = getLastTxRxResult(self.port_num,
                                            self.protocol_version)
        if last_result != COMM_SUCCESS:
            printTxRxResult(self.protocol_version, last_result)

        for block in read_blocks['blocks']:
            # loop through each block to see if the bulk result is available
            sid = block['servo_id']
            register = block['register']
            last_result = groupBulkReadIsAvailable(
                group_num, sid,
                dxl_control[register]['address'],
                dxl_control[register]['comm_bytes']
            )
            if last_result != 1:
                err = "[bulk_read] bulk_read not available servo_id:{0}".format(
                    sid
                )
                log.error(err)
                raise IOError(err)

        blocks = list()
        for block in read_blocks['blocks']:
            sid = block['servo_id']
            register = block['register']
            val = groupBulkReadGetData(
                group_num, sid,
                dxl_control[register]['address'],
                dxl_control[register]['comm_bytes']
            )
            blocks.append({
                "servo_id": sid, "register": register,
                "value": val, "ts": ts
            })

        response['blocks'] = blocks
        return response