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Feature/bt #24

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merged 6 commits into from
Aug 25, 2023
Merged

Feature/bt #24

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4752c83
nav2 bt
Aug 21, 2023
a8fdbeb
yacyac_servo action update
Aug 21, 2023
fee58ad
clang update
Aug 22, 2023
bb3d7d3
readme update
Aug 22, 2023
1d624ef
yacyac behavior tree update pill supply and nav2 client
Aug 25, 2023
8d81ad2
DynamixelSDK re formatting
dawan0111 Aug 25, 2023
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30 changes: 14 additions & 16 deletions DynamixelSDK/dynamixel_sdk/include/dynamixel_sdk/dynamixel_sdk.h
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Original file line number Diff line number Diff line change
@@ -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 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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Original file line number Diff line number Diff line change
@@ -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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