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Merge pull request #24 from dawan0111/feature/bt
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Feature/bt
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@dawan0111
dawan0111 authored Aug 25, 2023
2 parents aa53f97 + 8d81ad2 commit 0c3b2df
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30 changes: 14 additions & 16 deletions DynamixelSDK/dynamixel_sdk/include/dynamixel_sdk/dynamixel_sdk.h
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/*******************************************************************************
* Copyright 2017 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
* Copyright 2017 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/

////////////////////////////////////////////////////////////////////////////////
/// @file The file that includes whole Dynamixel SDK libraries
Expand All @@ -22,13 +22,11 @@
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_


#include "group_bulk_read.h"
#include "group_bulk_write.h"
#include "group_sync_read.h"
#include "group_sync_write.h"
#include "packet_handler.h"
#include "port_handler.h"


#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_ */
288 changes: 142 additions & 146 deletions DynamixelSDK/dynamixel_sdk/include/dynamixel_sdk/group_bulk_read.h
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@@ -1,18 +1,18 @@
/*******************************************************************************
* Copyright 2017 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
* Copyright 2017 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/

////////////////////////////////////////////////////////////////////////////////
/// @file The file for Dynamixel Bulk Read
Expand All @@ -22,146 +22,142 @@
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_


#include "packet_handler.h"
#include "port_handler.h"
#include <map>
#include <vector>
#include "port_handler.h"
#include "packet_handler.h"

namespace dynamixel
{
namespace dynamixel {

////////////////////////////////////////////////////////////////////////////////
/// @brief The class for reading multiple Dynamixel data from different addresses with different lengths at once
////////////////////////////////////////////////////////////////////////////////
class WINDECLSPEC GroupBulkRead
{
private:
PortHandler *port_;
PacketHandler *ph_;

std::vector<uint8_t> id_list_;
std::map<uint8_t, uint16_t> address_list_; // <id, start_address>
std::map<uint8_t, uint16_t> length_list_; // <id, data_length>
std::map<uint8_t, uint8_t *> data_list_; // <id, data>
std::map<uint8_t, uint8_t *> error_list_; // <id, error>

bool last_result_;
bool is_param_changed_;

uint8_t *param_;

void makeParam();

public:
////////////////////////////////////////////////////////////////////////////////
/// @brief The function that Initializes instance for Bulk Read
/// @param port PortHandler instance
/// @param ph PacketHandler instance
////////////////////////////////////////////////////////////////////////////////
GroupBulkRead(PortHandler *port, PacketHandler *ph);

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that calls clearParam function to clear the parameter list for Bulk Read
////////////////////////////////////////////////////////////////////////////////
~GroupBulkRead() { clearParam(); }

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that returns PortHandler instance
/// @return PortHandler instance
////////////////////////////////////////////////////////////////////////////////
PortHandler *getPortHandler() { return port_; }

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that returns PacketHandler instance
/// @return PacketHandler instance
////////////////////////////////////////////////////////////////////////////////
PacketHandler *getPacketHandler() { return ph_; }

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that adds id, start_address, data_length to the Bulk Read list
/// @param id Dynamixel ID
/// @param start_address Address of the data for read
/// @data_length Length of the data for read
/// @return false
/// @return when the ID exists already in the list
/// @return or true
////////////////////////////////////////////////////////////////////////////////
bool addParam (uint8_t id, uint16_t start_address, uint16_t data_length);

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that removes id from the Bulk Read list
/// @param id Dynamixel ID
////////////////////////////////////////////////////////////////////////////////
void removeParam (uint8_t id);

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that clears the Bulk Read list
////////////////////////////////////////////////////////////////////////////////
void clearParam ();

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that transmits the Bulk Read instruction packet which might be constructed by GroupBulkRead::addParam function
/// @return COMM_NOT_AVAILABLE
/// @return when the list for Bulk Read is empty
/// @return or the other communication results which come from PacketHandler::bulkReadTx
////////////////////////////////////////////////////////////////////////////////
int txPacket();

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that receives the packet which might be come from the Dynamixel
/// @return COMM_NOT_AVAILABLE
/// @return when the list for Bulk Read is empty
/// @return COMM_RX_FAIL
/// @return when there is no packet recieved
/// @return COMM_SUCCESS
/// @return when there is packet recieved
/// @return or the other communication results
////////////////////////////////////////////////////////////////////////////////
int rxPacket();

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that transmits and receives the packet which might be come from the Dynamixel
/// @return COMM_RX_FAIL
/// @return when there is no packet recieved
/// @return COMM_SUCCESS
/// @return when there is packet recieved
/// @return or the other communication results which come from GroupBulkRead::txPacket or GroupBulkRead::rxPacket
////////////////////////////////////////////////////////////////////////////////
int txRxPacket();

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that checks whether there are available data which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket
/// @param id Dynamixel ID
/// @param address Address of the data for read
/// @param data_length Length of the data for read
/// @return false
/// @return when there are no data available
/// @return or true
////////////////////////////////////////////////////////////////////////////////
bool isAvailable (uint8_t id, uint16_t address, uint16_t data_length);

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that gets the data which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket
/// @param id Dynamixel ID
/// @param address Address of the data for read
/// @data_length Length of the data for read
/// @return data value
////////////////////////////////////////////////////////////////////////////////
uint32_t getData (uint8_t id, uint16_t address, uint16_t data_length);

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that gets the error which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket
/// @param id Dynamixel ID
/// @error error of Dynamixel
/// @return true
/// @return when Dynamixel returned specific error byte
/// @return or false
////////////////////////////////////////////////////////////////////////////////
bool getError (uint8_t id, uint8_t* error);
class WINDECLSPEC GroupBulkRead {
private:
PortHandler* port_;
PacketHandler* ph_;

std::vector<uint8_t> id_list_;
std::map<uint8_t, uint16_t> address_list_; // <id, start_address>
std::map<uint8_t, uint16_t> length_list_; // <id, data_length>
std::map<uint8_t, uint8_t*> data_list_; // <id, data>
std::map<uint8_t, uint8_t*> error_list_; // <id, error>

bool last_result_;
bool is_param_changed_;

uint8_t* param_;

void makeParam();

public:
////////////////////////////////////////////////////////////////////////////////
/// @brief The function that Initializes instance for Bulk Read
/// @param port PortHandler instance
/// @param ph PacketHandler instance
////////////////////////////////////////////////////////////////////////////////
GroupBulkRead(PortHandler* port, PacketHandler* ph);

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that calls clearParam function to clear the parameter list for Bulk Read
////////////////////////////////////////////////////////////////////////////////
~GroupBulkRead() { clearParam(); }

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that returns PortHandler instance
/// @return PortHandler instance
////////////////////////////////////////////////////////////////////////////////
PortHandler* getPortHandler() { return port_; }

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that returns PacketHandler instance
/// @return PacketHandler instance
////////////////////////////////////////////////////////////////////////////////
PacketHandler* getPacketHandler() { return ph_; }

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that adds id, start_address, data_length to the Bulk Read list
/// @param id Dynamixel ID
/// @param start_address Address of the data for read
/// @data_length Length of the data for read
/// @return false
/// @return when the ID exists already in the list
/// @return or true
////////////////////////////////////////////////////////////////////////////////
bool addParam(uint8_t id, uint16_t start_address, uint16_t data_length);

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that removes id from the Bulk Read list
/// @param id Dynamixel ID
////////////////////////////////////////////////////////////////////////////////
void removeParam(uint8_t id);

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that clears the Bulk Read list
////////////////////////////////////////////////////////////////////////////////
void clearParam();

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that transmits the Bulk Read instruction packet which might be constructed by GroupBulkRead::addParam function
/// @return COMM_NOT_AVAILABLE
/// @return when the list for Bulk Read is empty
/// @return or the other communication results which come from PacketHandler::bulkReadTx
////////////////////////////////////////////////////////////////////////////////
int txPacket();

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that receives the packet which might be come from the Dynamixel
/// @return COMM_NOT_AVAILABLE
/// @return when the list for Bulk Read is empty
/// @return COMM_RX_FAIL
/// @return when there is no packet recieved
/// @return COMM_SUCCESS
/// @return when there is packet recieved
/// @return or the other communication results
////////////////////////////////////////////////////////////////////////////////
int rxPacket();

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that transmits and receives the packet which might be come from the Dynamixel
/// @return COMM_RX_FAIL
/// @return when there is no packet recieved
/// @return COMM_SUCCESS
/// @return when there is packet recieved
/// @return or the other communication results which come from GroupBulkRead::txPacket or GroupBulkRead::rxPacket
////////////////////////////////////////////////////////////////////////////////
int txRxPacket();

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that checks whether there are available data which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket
/// @param id Dynamixel ID
/// @param address Address of the data for read
/// @param data_length Length of the data for read
/// @return false
/// @return when there are no data available
/// @return or true
////////////////////////////////////////////////////////////////////////////////
bool isAvailable(uint8_t id, uint16_t address, uint16_t data_length);

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that gets the data which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket
/// @param id Dynamixel ID
/// @param address Address of the data for read
/// @data_length Length of the data for read
/// @return data value
////////////////////////////////////////////////////////////////////////////////
uint32_t getData(uint8_t id, uint16_t address, uint16_t data_length);

////////////////////////////////////////////////////////////////////////////////
/// @brief The function that gets the error which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket
/// @param id Dynamixel ID
/// @error error of Dynamixel
/// @return true
/// @return when Dynamixel returned specific error byte
/// @return or false
////////////////////////////////////////////////////////////////////////////////
bool getError(uint8_t id, uint8_t* error);
};

}

} // namespace dynamixel

#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_ */
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