Program Listing for File packet_handler.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.
*******************************************************************************/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_
#if defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__)
#include <Arduino.h>
#define ERROR_PRINT SerialBT2.print
#else
#define ERROR_PRINT printf
#endif
#include <stdio.h>
#include <vector>
#include "port_handler.h"
#define BROADCAST_ID 0xFE // 254
#define MAX_ID 0xFC // 252
/* Macro for Control Table Value */
#define DXL_MAKEWORD(a, b) ((uint16_t)(((uint8_t)(((uint64_t)(a)) & 0xff)) | ((uint16_t)((uint8_t)(((uint64_t)(b)) & 0xff))) << 8))
#define DXL_MAKEDWORD(a, b) ((uint32_t)(((uint16_t)(((uint64_t)(a)) & 0xffff)) | ((uint32_t)((uint16_t)(((uint64_t)(b)) & 0xffff))) << 16))
#define DXL_LOWORD(l) ((uint16_t)(((uint64_t)(l)) & 0xffff))
#define DXL_HIWORD(l) ((uint16_t)((((uint64_t)(l)) >> 16) & 0xffff))
#define DXL_LOBYTE(w) ((uint8_t)(((uint64_t)(w)) & 0xff))
#define DXL_HIBYTE(w) ((uint8_t)((((uint64_t)(w)) >> 8) & 0xff))
/* Instruction for DXL Protocol */
#define INST_PING 1
#define INST_READ 2
#define INST_WRITE 3
#define INST_REG_WRITE 4
#define INST_ACTION 5
#define INST_FACTORY_RESET 6
#define INST_SYNC_WRITE 131 // 0x83
#define INST_BULK_READ 146 // 0x92
// --- Only for 2.0 --- //
#define INST_REBOOT 8
#define INST_CLEAR 16 // 0x10
#define INST_STATUS 85 // 0x55
#define INST_SYNC_READ 130 // 0x82
#define INST_BULK_WRITE 147 // 0x93
// Communication Result
#define COMM_SUCCESS 0 // tx or rx packet communication success
#define COMM_PORT_BUSY -1000 // Port is busy (in use)
#define COMM_TX_FAIL -1001 // Failed transmit instruction packet
#define COMM_RX_FAIL -1002 // Failed get status packet
#define COMM_TX_ERROR -2000 // Incorrect instruction packet
#define COMM_RX_WAITING -3000 // Now recieving status packet
#define COMM_RX_TIMEOUT -3001 // There is no status packet
#define COMM_RX_CORRUPT -3002 // Incorrect status packet
#define COMM_NOT_AVAILABLE -9000 //
namespace dynamixel
{
class WINDECLSPEC PacketHandler
{
protected:
PacketHandler() { }
public:
static PacketHandler *getPacketHandler(float protocol_version = 2.0);
virtual ~PacketHandler() { }
virtual float getProtocolVersion() = 0;
virtual const char *getTxRxResult (int result) = 0;
virtual const char *getRxPacketError (uint8_t error) = 0;
virtual int txPacket (PortHandler *port, uint8_t *txpacket) = 0;
virtual int rxPacket (PortHandler *port, uint8_t *rxpacket) = 0;
virtual int txRxPacket (PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error = 0) = 0;
virtual int ping (PortHandler *port, uint8_t id, uint8_t *error = 0) = 0;
virtual int ping (PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error = 0) = 0;
virtual int broadcastPing (PortHandler *port, std::vector<uint8_t> &id_list) = 0;
virtual int action (PortHandler *port, uint8_t id) = 0;
virtual int reboot (PortHandler *port, uint8_t id, uint8_t *error = 0) = 0;
virtual int clearMultiTurn (PortHandler *port, uint8_t id, uint8_t *error = 0) = 0;
virtual int factoryReset (PortHandler *port, uint8_t id, uint8_t option = 0, uint8_t *error = 0) = 0;
virtual int readTx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length) = 0;
virtual int readRx (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0;
virtual int readTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0;
virtual int read1ByteTx (PortHandler *port, uint8_t id, uint16_t address) = 0;
virtual int read1ByteRx (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0) = 0;
virtual int read1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error = 0) = 0;
virtual int read2ByteTx (PortHandler *port, uint8_t id, uint16_t address) = 0;
virtual int read2ByteRx (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0) = 0;
virtual int read2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error = 0) = 0;
virtual int read4ByteTx (PortHandler *port, uint8_t id, uint16_t address) = 0;
virtual int read4ByteRx (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0) = 0;
virtual int read4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error = 0) = 0;
virtual int writeTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) = 0;
virtual int writeTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0;
virtual int write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data) = 0;
virtual int write1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error = 0) = 0;
virtual int write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data) = 0;
virtual int write2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error = 0) = 0;
virtual int write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data) = 0;
virtual int write4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error = 0) = 0;
virtual int regWriteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) = 0;
virtual int regWriteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0;
virtual int syncReadTx (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) = 0;
// SyncReadRx -> GroupSyncRead class
// SyncReadTxRx -> GroupSyncRead class
virtual int syncWriteTxOnly (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) = 0;
virtual int bulkReadTx (PortHandler *port, uint8_t *param, uint16_t param_length) = 0;
// BulkReadRx -> GroupBulkRead class
// BulkReadTxRx -> GroupBulkRead class
virtual int bulkWriteTxOnly (PortHandler *port, uint8_t *param, uint16_t param_length) = 0;
};
}
#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_ */