The class for reading multiple Dynamixel data from different addresses with different lengths at once. More...

#include <group_bulk_read.h>

Public Member Functions
bool	addParam (uint8_t id, uint16_t start_address, uint16_t data_length)
	The function that adds id, start_address, data_length to the Bulk Read list.
void	clearParam ()
	The function that clears the Bulk Read list.
uint32_t	getData (uint8_t id, uint16_t address, uint16_t data_length)
	The function that gets the data which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket.
bool	getError (uint8_t id, uint8_t *error)
	The function that gets the error which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket.
PacketHandler *	getPacketHandler ()
	The function that returns PacketHandler instance.
PortHandler *	getPortHandler ()
	The function that returns PortHandler instance.
	GroupBulkRead (PortHandler port, PacketHandler ph)
	The function that Initializes instance for Bulk Read.
bool	isAvailable (uint8_t id, uint16_t address, uint16_t data_length)
	The function that checks whether there are available data which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket.
void	removeParam (uint8_t id)
	The function that removes id from the Bulk Read list.
int	rxPacket ()
	The function that receives the packet which might be come from the Dynamixel.
int	txPacket ()
	The function that transmits the Bulk Read instruction packet which might be constructed by GroupBulkRead::addParam function.
int	txRxPacket ()
	The function that transmits and receives the packet which might be come from the Dynamixel.
	~GroupBulkRead ()
	The function that calls clearParam function to clear the parameter list for Bulk Read.
Private Member Functions
void	makeParam ()
Private Attributes
std::map< uint8_t, uint16_t >	address_list_
std::map< uint8_t, uint8_t * >	data_list_
std::map< uint8_t, uint8_t * >	error_list_
std::vector< uint8_t >	id_list_
bool	is_param_changed_
bool	last_result_
std::map< uint8_t, uint16_t >	length_list_
uint8_t *	param_
PacketHandler *	ph_
PortHandler *	port_

Detailed Description

The class for reading multiple Dynamixel data from different addresses with different lengths at once.

Definition at line 37 of file group_bulk_read.h.

Constructor & Destructor Documentation

GroupBulkRead::GroupBulkRead	(	PortHandler *	port,
		PacketHandler *	ph
	)

The function that Initializes instance for Bulk Read.

Parameters:

port	PortHandler instance
ph	PacketHandler instance

Definition at line 35 of file group_bulk_read.cpp.

dynamixel::GroupBulkRead::~GroupBulkRead ( ) [inline]

The function that calls clearParam function to clear the parameter list for Bulk Read.

Definition at line 67 of file group_bulk_read.h.

Member Function Documentation

bool GroupBulkRead::addParam	(	uint8_t	id,
		uint16_t	start_address,
		uint16_t	data_length
	)

The function that adds id, start_address, data_length to the Bulk Read list.

Parameters:

id	Dynamixel ID
start_address	Address of the data for read Length of the data for read

Returns:: false; when the ID exists already in the list; or true

Definition at line 84 of file group_bulk_read.cpp.

void GroupBulkRead::clearParam ( )

The function that clears the Bulk Read list.

Definition at line 116 of file group_bulk_read.cpp.

uint32_t GroupBulkRead::getData	(	uint8_t	id,
		uint16_t	address,
		uint16_t	data_length
	)

The function that gets the data which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket.

Parameters:

id	Dynamixel ID
address	Address of the data for read Length of the data for read

Returns:: data value

Definition at line 206 of file group_bulk_read.cpp.

bool GroupBulkRead::getError	(	uint8_t	id,
		uint8_t *	error
	)

The function that gets the error which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket.

Parameters:

id	Dynamixel ID error of Dynamixel

Returns:: true; when Dynamixel returned specific error byte; or false

Definition at line 230 of file group_bulk_read.cpp.

PacketHandler* dynamixel::GroupBulkRead::getPacketHandler ( ) [inline]

The function that returns PacketHandler instance.

Returns:: PacketHandler instance

Definition at line 79 of file group_bulk_read.h.

PortHandler* dynamixel::GroupBulkRead::getPortHandler ( ) [inline]

The function that returns PortHandler instance.

Returns:: PortHandler instance

Definition at line 73 of file group_bulk_read.h.

bool GroupBulkRead::isAvailable	(	uint8_t	id,
		uint16_t	address,
		uint16_t	data_length
	)

The function that checks whether there are available data which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket.

Parameters:

id	Dynamixel ID
address	Address of the data for read
data_length	Length of the data for read

Returns:: false; when there are no data available; or true

Definition at line 191 of file group_bulk_read.cpp.

void GroupBulkRead::makeParam ( ) [private]

Definition at line 45 of file group_bulk_read.cpp.

void GroupBulkRead::removeParam ( uint8_t id )

The function that removes id from the Bulk Read list.

Parameters:

id	Dynamixel ID

Definition at line 99 of file group_bulk_read.cpp.

int GroupBulkRead::rxPacket ( )

The function that receives the packet which might be come from the Dynamixel.

Returns:: COMM_NOT_AVAILABLE; when the list for Bulk Read is empty; COMM_RX_FAIL; when there is no packet recieved; COMM_SUCCESS; when there is packet recieved; or the other communication results

Definition at line 155 of file group_bulk_read.cpp.

int GroupBulkRead::txPacket ( )

The function that transmits the Bulk Read instruction packet which might be constructed by GroupBulkRead::addParam function.

Returns:: COMM_NOT_AVAILABLE; when the list for Bulk Read is empty; or the other communication results which come from PacketHandler::bulkReadTx

Definition at line 137 of file group_bulk_read.cpp.

int GroupBulkRead::txRxPacket ( )

The function that transmits and receives the packet which might be come from the Dynamixel.

Returns:: COMM_RX_FAIL; when there is no packet recieved; COMM_SUCCESS; when there is packet recieved; or the other communication results which come from GroupBulkRead::txPacket or GroupBulkRead::rxPacket

Definition at line 180 of file group_bulk_read.cpp.