The class for reading multiple Dynamixel data from same address with same length at once. More...

#include <group_sync_read.h>

Public Member Functions
bool	addParam (uint8_t id)
	The function that adds id, start_address, data_length to the Sync Read list.
void	clearParam ()
	The function that clears the Sync 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 GroupSyncRead::rxPacket or GroupSyncRead::txRxPacket.
bool	getError (uint8_t id, uint8_t *error)
	The function that gets the error which might be received by GroupSyncRead::rxPacket or GroupSyncRead::txRxPacket.
PacketHandler *	getPacketHandler ()
	The function that returns PacketHandler instance.
PortHandler *	getPortHandler ()
	The function that returns PortHandler instance.
	GroupSyncRead (PortHandler port, PacketHandler ph, uint16_t start_address, uint16_t data_length)
	The function that Initializes instance for Sync 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 GroupSyncRead::rxPacket or GroupSyncRead::txRxPacket.
void	removeParam (uint8_t id)
	The function that removes id from the Sync Read list.
int	rxPacket ()
	The function that receives the packet which might be come from the Dynamixel.
int	txPacket ()
	The function that transmits the Sync Read instruction packet which might be constructed by GroupSyncRead::addParam function.
int	txRxPacket ()
	The function that transmits and receives the packet which might be come from the Dynamixel.
	~GroupSyncRead ()
	The function that calls clearParam function to clear the parameter list for Sync Read.
Private Member Functions
void	makeParam ()
Private Attributes
uint16_t	data_length_
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_
uint8_t *	param_
PacketHandler *	ph_
PortHandler *	port_
uint16_t	start_address_

Detailed Description

The class for reading multiple Dynamixel data from same address with same length at once.

Definition at line 37 of file group_sync_read.h.

Constructor & Destructor Documentation

GroupSyncRead::GroupSyncRead	(	PortHandler *	port,
		PacketHandler *	ph,
		uint16_t	start_address,
		uint16_t	data_length
	)

The function that Initializes instance for Sync Read.

Parameters:

port	PortHandler instance
ph	PacketHandler instance
start_address	Address of the data for read
data_length	Length of the data for read

Definition at line 34 of file group_sync_read.cpp.

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

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

Definition at line 69 of file group_sync_read.h.

Member Function Documentation

bool GroupSyncRead::addParam ( uint8_t id )

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

Parameters:

id	Dynamixel ID

Returns:: false; when the ID exists already in the list; when the protocol1.0 has been used; or true

Definition at line 62 of file group_sync_read.cpp.

void GroupSyncRead::clearParam ( )

The function that clears the Sync Read list.

Definition at line 94 of file group_sync_read.cpp.

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

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

Parameters:

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

Returns:: data value

Definition at line 177 of file group_sync_read.cpp.

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

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

Parameters:

id	Dynamixel ID error of Dynamixel

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

Definition at line 199 of file group_sync_read.cpp.

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

The function that returns PacketHandler instance.

Returns:: PacketHandler instance

Definition at line 81 of file group_sync_read.h.

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

The function that returns PortHandler instance.

Returns:: PortHandler instance

Definition at line 75 of file group_sync_read.h.

bool GroupSyncRead::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 GroupSyncRead::rxPacket or GroupSyncRead::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; when the protocol1.0 has been used; or true

Definition at line 166 of file group_sync_read.cpp.

void GroupSyncRead::makeParam ( ) [private]

Definition at line 46 of file group_sync_read.cpp.

void GroupSyncRead::removeParam ( uint8_t id )

The function that removes id from the Sync Read list.

Parameters:

id	Dynamixel ID

Definition at line 77 of file group_sync_read.cpp.

int GroupSyncRead::rxPacket ( )

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

Returns:: COMM_NOT_AVAILABLE; when the list for Sync Read is empty; when the protocol1.0 has been used; COMM_SUCCESS; when there is packet recieved; or the other communication results

Definition at line 124 of file group_sync_read.cpp.

int GroupSyncRead::txPacket ( )

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

Returns:: COMM_NOT_AVAILABLE; when the list for Sync Read is empty; when the protocol1.0 has been used; or the other communication results which come from PacketHandler::syncReadTx

Definition at line 113 of file group_sync_read.cpp.

int GroupSyncRead::txRxPacket ( )

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

Returns:: COMM_NOT_AVAILABLE; when the protocol1.0 has been used; 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 152 of file group_sync_read.cpp.