dynamixel::PacketHandler Class Reference

The class that inherits Protocol1PacketHandler class or Protocol2PacketHandler class. More...

#include <packet_handler.h>

Inheritance diagram for dynamixel::PacketHandler:

List of all members.

Public Member Functions
virtual int	action (PortHandler *port, uint8_t id)=0
	The function that makes Dynamixels run as written in the Dynamixel register The function makes an instruction packet with INST_ACTION, transmits the packet with PacketHandler::txRxPacket(). To use this function, Dynamixel register should be set by PacketHandler::regWriteTxOnly() or PacketHandler::regWriteTxRx()
virtual int	broadcastPing (PortHandler *port, std::vector< uint8_t > &id_list)=0
	(Available only in Protocol 2.0) The function that pings all connected Dynamixel
virtual int	bulkReadTx (PortHandler *port, uint8_t *param, uint16_t param_length)=0
	The function that transmits INST_BULK_READ instruction packet The function makes an instruction packet with INST_BULK_READ, transmits the packet with PacketHandler::txPacket().
virtual int	bulkWriteTxOnly (PortHandler *port, uint8_t *param, uint16_t param_length)=0
	The function that transmits INST_BULK_WRITE instruction packet The function makes an instruction packet with INST_BULK_WRITE, transmits the packet with PacketHandler::txRxPacket().
virtual int	factoryReset (PortHandler *port, uint8_t id, uint8_t option=0, uint8_t *error=0)=0
	The function that makes Dynamixel reset as it was produced in the factory The function makes an instruction packet with INST_FACTORY_RESET, transmits the packet with PacketHandler::txRxPacket(). Be careful of the use.
virtual float	getProtocolVersion ()=0
	The function that returns Protocol version.
virtual const char *	getRxPacketError (uint8_t error)=0
	The function that gets description of hardware error.
virtual const char *	getTxRxResult (int result)=0
	The function that gets description of communication result.
virtual int	ping (PortHandler *port, uint8_t id, uint8_t *error=0)=0
	The function that pings Dynamixel but doesn't take its model number The function calls PacketHandler::ping() which gets Dynamixel model number, but doesn't carry the model number.
virtual int	ping (PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error=0)=0
	The function that pings Dynamixel and takes its model number The function makes an instruction packet with INST_PING, transmits the packet with PacketHandler::txRxPacket(), and call PacketHandler::readTxRx to read model_number in the rx buffer. It breaks out when it tries to transmit to BROADCAST_ID.
virtual int	read1ByteRx (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error=0)=0
	The function that calls PacketHandler::readRx() function and reads 1 byte data on the packet The function calls PacketHandler::readRx() function, gets 1 byte data from the packet.
virtual int	read1ByteTx (PortHandler *port, uint8_t id, uint16_t address)=0
	The function that calls PacketHandler::readTx() function for reading 1 byte data The function calls PacketHandler::readTx() function for reading 1 byte data.
virtual int	read1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error=0)=0
	The function that calls PacketHandler::readTxRx() function for reading 1 byte data The function calls PacketHandler::readTxRx(), gets 1 byte data from the packet.
virtual int	read2ByteRx (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error=0)=0
	The function that calls PacketHandler::readRx() function and reads 2 byte data on the packet The function calls PacketHandler::readRx() function, gets 2 byte data from the packet.
virtual int	read2ByteTx (PortHandler *port, uint8_t id, uint16_t address)=0
	The function that calls PacketHandler::readTx() function for reading 2 byte data The function calls PacketHandler::readTx() function for reading 2 byte data.
virtual int	read2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error=0)=0
	The function that calls PacketHandler::readTxRx() function for reading 2 byte data The function calls PacketHandler::readTxRx(), gets 2 byte data from the packet.
virtual int	read4ByteRx (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error=0)=0
	The function that calls PacketHandler::readRx() function and reads 4 byte data on the packet The function calls PacketHandler::readRx() function, gets 4 byte data from the packet.
virtual int	read4ByteTx (PortHandler *port, uint8_t id, uint16_t address)=0
	The function that calls PacketHandler::readTx() function for reading 4 byte data The function calls PacketHandler::readTx() function for reading 4 byte data.
virtual int	read4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error=0)=0
	The function that calls PacketHandler::readTxRx() function for reading 4 byte data The function calls PacketHandler::readTxRx(), gets 4 byte data from the packet.
virtual int	readRx (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error=0)=0
	The function that receives the packet and reads the data in the packet The function receives the packet which might be come by previous INST_READ instruction packet transmission, gets the data from the packet.
virtual int	readTx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length)=0
	The function that transmits INST_READ instruction packet The function makes an instruction packet with INST_READ, transmits the packet with PacketHandler::txPacket(). It breaks out when it tries to transmit to BROADCAST_ID.
virtual int	readTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error=0)=0
	The function that transmits INST_READ instruction packet, and read data from received packet The function makes an instruction packet with INST_READ, transmits and receives the packet with PacketHandler::txRxPacket(), gets the data from the packet. It breaks out when it tries to transmit to BROADCAST_ID.
virtual int	reboot (PortHandler *port, uint8_t id, uint8_t *error=0)=0
	The function that makes Dynamixel reboot The function makes an instruction packet with INST_REBOOT, transmits the packet with PacketHandler::txRxPacket(), then Dynamixel reboots. During reboot, its LED will blink.
virtual int	regWriteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data)=0
	The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, transmits the packet with PacketHandler::txPacket(). The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamxel.
virtual int	regWriteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error=0)=0
	The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register, and receives the packet The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, transmits and receives the packet with PacketHandler::txRxPacket(), gets the error from the packet. The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamxel.
virtual int	rxPacket (PortHandler *port, uint8_t *rxpacket)=0
	The function that receives packet (rxpacket) during designated time via PortHandler port The function repeatedly tries to receive rxpacket by PortHandler::readPort() function. It breaks out when PortHandler::isPacketTimeout() shows the timeout, when rxpacket seemed as corrupted, or when nothing received.
virtual int	syncReadTx (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length)=0
	The function that transmits INST_SYNC_READ instruction packet The function makes an instruction packet with INST_SYNC_READ, transmits the packet with PacketHandler::txPacket().
virtual int	syncWriteTxOnly (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length)=0
	The function that transmits INST_SYNC_WRITE instruction packet The function makes an instruction packet with INST_SYNC_WRITE, transmits the packet with PacketHandler::txRxPacket().
virtual int	txPacket (PortHandler *port, uint8_t *txpacket)=0
	The function that transmits the instruction packet txpacket via PortHandler port. The function clears the port buffer by PortHandler::clearPort() function, then transmits txpacket by PortHandler::writePort() function. The function activates only when the port is not busy and when the packet is already written on the port buffer.
virtual int	txRxPacket (PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error=0)=0
	The function that transmits packet (txpacket) and receives packet (rxpacket) during designated time via PortHandler port The function calls PacketHandler::txPacket(), and calls PacketHandler::rxPacket() if it succeeds PacketHandler::txPacket(). It breaks out when it fails PacketHandler::txPacket(), when txpacket is called by PacketHandler::broadcastPing() / PacketHandler::syncWriteTxOnly() / PacketHandler::regWriteTxOnly / PacketHandler::action.
virtual int	write1ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint8_t data)=0
	The function that calls PacketHandler::writeTxOnly() for writing 1 byte data The function calls PacketHandler::writeTxOnly() for writing 1 byte data.
virtual int	write1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error=0)=0
	The function that calls PacketHandler::writeTxRx() for writing 1 byte data and receives the packet The function calls PacketHandler::writeTxRx() for writing 1 byte data and receves the packet, gets the error from the packet.
virtual int	write2ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t data)=0
	The function that calls PacketHandler::writeTxOnly() for writing 2 byte data The function calls PacketHandler::writeTxOnly() for writing 2 byte data.
virtual int	write2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error=0)=0
	The function that calls PacketHandler::writeTxRx() for writing 2 byte data and receives the packet The function calls PacketHandler::writeTxRx() for writing 2 byte data and receves the packet, gets the error from the packet.
virtual int	write4ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint32_t data)=0
	The function that calls PacketHandler::writeTxOnly() for writing 4 byte data The function calls PacketHandler::writeTxOnly() for writing 4 byte data.
virtual int	write4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error=0)=0
	The function that calls PacketHandler::writeTxRx() for writing 4 byte data and receives the packet The function calls PacketHandler::writeTxRx() for writing 4 byte data and receves the packet, gets the error from the packet.
virtual int	writeTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data)=0
	The function that transmits INST_WRITE instruction packet with the data for write The function makes an instruction packet with INST_WRITE and the data for write, transmits the packet with PacketHandler::txPacket().
virtual int	writeTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error=0)=0
	The function that transmits INST_WRITE instruction packet with the data for write, and receives the packet The function makes an instruction packet with INST_WRITE and the data for write, transmits and receives the packet with PacketHandler::txRxPacket(), gets the error from the packet.
virtual	~PacketHandler ()
Static Public Member Functions
static PacketHandler *	getPacketHandler (float protocol_version=2.0)
	The function that returns PacketHandler instance.
Protected Member Functions
	PacketHandler ()

---

Detailed Description

The class that inherits Protocol1PacketHandler class or Protocol2PacketHandler class.

Definition at line 76 of file packet_handler.h.

---

Constructor & Destructor Documentation

dynamixel::PacketHandler::PacketHandler

(

)

[inline, protected]

Definition at line 79 of file packet_handler.h.

virtual dynamixel::PacketHandler::~PacketHandler

(

)

[inline, virtual]

Definition at line 88 of file packet_handler.h.

---

Member Function Documentation

virtual int dynamixel::PacketHandler::action	(	PortHandler *	port,
		uint8_t	id
	)		[pure virtual]

The function that makes Dynamixels run as written in the Dynamixel register The function makes an instruction packet with INST_ACTION, transmits the packet with PacketHandler::txRxPacket(). To use this function, Dynamixel register should be set by PacketHandler::regWriteTxOnly() or PacketHandler::regWriteTxRx()

Parameters:

port	PortHandler instance
id	Dynamixel ID

Returns:

communication results which come from PacketHandler::txRxPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::broadcastPing	(	PortHandler *	port,
		std::vector< uint8_t > &	id_list
	)		[pure virtual]

(Available only in Protocol 2.0) The function that pings all connected Dynamixel

Parameters:

port	PortHandler instance
id_list	ID list of Dynamixels which are found by broadcast ping

Returns:

COMM_NOT_AVAILABLE

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::bulkReadTx	(	PortHandler *	port,
		uint8_t *	param,
		uint16_t	param_length
	)		[pure virtual]

The function that transmits INST_BULK_READ instruction packet The function makes an instruction packet with INST_BULK_READ, transmits the packet with PacketHandler::txPacket().

Parameters:

port	PortHandler instance
param	Parameter for Bulk Read
param_length	Length of the data for Bulk Read

Returns:

communication results which come from PacketHandler::txPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::bulkWriteTxOnly	(	PortHandler *	port,
		uint8_t *	param,
		uint16_t	param_length
	)		[pure virtual]

The function that transmits INST_BULK_WRITE instruction packet The function makes an instruction packet with INST_BULK_WRITE, transmits the packet with PacketHandler::txRxPacket().

Parameters:

port	PortHandler instance
param	Parameter for Bulk Write
param_length	Length of the data for Bulk Write

Returns:

communication results which come from PacketHandler::txRxPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::factoryReset	(	PortHandler *	port,
		uint8_t	id,
		uint8_t	option = 0,
		uint8_t *	error = 0
	)		[pure virtual]

The function that makes Dynamixel reset as it was produced in the factory The function makes an instruction packet with INST_FACTORY_RESET, transmits the packet with PacketHandler::txRxPacket(). Be careful of the use.

Parameters:

port	PortHandler instance
id	Dynamixel ID
option	Reset option
error	Dynamixel hardware error

Returns:

communication results which come from PacketHandler::txRxPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

PacketHandler * PacketHandler::getPacketHandler

(

float

protocol_version = 2.0

)

[static]

The function that returns PacketHandler instance.

Returns:

PacketHandler instance

Definition at line 40 of file packet_handler.cpp.

virtual float dynamixel::PacketHandler::getProtocolVersion

(

)

[pure virtual]

The function that returns Protocol version.

Returns:

protocol version

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual const char* dynamixel::PacketHandler::getRxPacketError

(

uint8_t

error

)

[pure virtual]

The function that gets description of hardware error.

Parameters:

error

Dynamixel hardware error which might be gotten by the tx rx functions

Returns:

description of hardware error in const char* (string)

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual const char* dynamixel::PacketHandler::getTxRxResult

(

int

result

)

[pure virtual]

The function that gets description of communication result.

Parameters:

result

Communication result which might be gotten by the tx rx functions

Returns:

description of communication result in const char* (string)

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::ping	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = 0
	)		[pure virtual]

The function that pings Dynamixel but doesn't take its model number The function calls PacketHandler::ping() which gets Dynamixel model number, but doesn't carry the model number.

Parameters:

port	PortHandler instance
id	Dynamixel ID
error	Dynamixel hardware error

Returns:

communication results which come from PacketHandler::ping()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::ping	(	PortHandler *	port,
		uint8_t	id,
		uint16_t *	model_number,
		uint8_t *	error = 0
	)		[pure virtual]

The function that pings Dynamixel and takes its model number The function makes an instruction packet with INST_PING, transmits the packet with PacketHandler::txRxPacket(), and call PacketHandler::readTxRx to read model_number in the rx buffer. It breaks out when it tries to transmit to BROADCAST_ID.

Parameters:

port	PortHandler instance
id	Dynamixel ID
error	Dynamixel hardware error

Returns:

COMM_NOT_AVAILABLE

when it tries to transmit to BROADCAST_ID

COMM_SUCCESS

when it succeeds to ping Dynamixel and get model_number from it

or the other communication results which come from PacketHandler::txRxPacket() and PacketHandler::readTxRx()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::read1ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	data,
		uint8_t *	error = 0
	)		[pure virtual]

The function that calls PacketHandler::readRx() function and reads 1 byte data on the packet The function calls PacketHandler::readRx() function, gets 1 byte data from the packet.

Parameters:

port	PortHandler instance
data	Data extracted from the packet
error	Dynamixel hardware error

Returns:

communication results which come from PacketHandler::readRx()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::read1ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)		[pure virtual]

The function that calls PacketHandler::readTx() function for reading 1 byte data The function calls PacketHandler::readTx() function for reading 1 byte data.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read

Returns:

communication results which come from PacketHandler::readTx()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::read1ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t *	data,
		uint8_t *	error = 0
	)		[pure virtual]

The function that calls PacketHandler::readTxRx() function for reading 1 byte data The function calls PacketHandler::readTxRx(), gets 1 byte data from the packet.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read
length	Length of the data for read
data	Data extracted from the packet
error	Dynamixel hardware error

Returns:

communication results which come from PacketHandler::txRxPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::read2ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t *	data,
		uint8_t *	error = 0
	)		[pure virtual]

The function that calls PacketHandler::readRx() function and reads 2 byte data on the packet The function calls PacketHandler::readRx() function, gets 2 byte data from the packet.

Parameters:

port	PortHandler instance
data	Data extracted from the packet
error	Dynamixel hardware error

Returns:

communication results which come from PacketHandler::readRx()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::read2ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)		[pure virtual]

The function that calls PacketHandler::readTx() function for reading 2 byte data The function calls PacketHandler::readTx() function for reading 2 byte data.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read

Returns:

communication results which come from PacketHandler::readTx()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::read2ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t *	data,
		uint8_t *	error = 0
	)		[pure virtual]

The function that calls PacketHandler::readTxRx() function for reading 2 byte data The function calls PacketHandler::readTxRx(), gets 2 byte data from the packet.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read
length	Length of the data for read
data	Data extracted from the packet
error	Dynamixel hardware error

Returns:

communication results which come from PacketHandler::txRxPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::read4ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint32_t *	data,
		uint8_t *	error = 0
	)		[pure virtual]

The function that calls PacketHandler::readRx() function and reads 4 byte data on the packet The function calls PacketHandler::readRx() function, gets 4 byte data from the packet.

Parameters:

port	PortHandler instance
data	Data extracted from the packet
error	Dynamixel hardware error

Returns:

communication results which come from PacketHandler::readRx()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::read4ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)		[pure virtual]

The function that calls PacketHandler::readTx() function for reading 4 byte data The function calls PacketHandler::readTx() function for reading 4 byte data.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read

Returns:

communication results which come from PacketHandler::readTx()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::read4ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t *	data,
		uint8_t *	error = 0
	)		[pure virtual]

The function that calls PacketHandler::readTxRx() function for reading 4 byte data The function calls PacketHandler::readTxRx(), gets 4 byte data from the packet.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read
length	Length of the data for read
data	Data extracted from the packet
error	Dynamixel hardware error

Returns:

communication results which come from PacketHandler::txRxPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::readRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = 0
	)		[pure virtual]

The function that receives the packet and reads the data in the packet The function receives the packet which might be come by previous INST_READ instruction packet transmission, gets the data from the packet.

Parameters:

port	PortHandler instance
length	Length of the data for read
data	Data extracted from the packet
error	Dynamixel hardware error

Returns:

communication results which come from PacketHandler::rxPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::readTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length
	)		[pure virtual]

The function that transmits INST_READ instruction packet The function makes an instruction packet with INST_READ, transmits the packet with PacketHandler::txPacket(). It breaks out when it tries to transmit to BROADCAST_ID.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read
length	Length of the data for read

Returns:

COMM_NOT_AVAILABLE

when it tries to transmit to BROADCAST_ID

or the other communication results which come from PacketHandler::txPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::readTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = 0
	)		[pure virtual]

The function that transmits INST_READ instruction packet, and read data from received packet The function makes an instruction packet with INST_READ, transmits and receives the packet with PacketHandler::txRxPacket(), gets the data from the packet. It breaks out when it tries to transmit to BROADCAST_ID.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read
length	Length of the data for read
data	Data extracted from the packet
error	Dynamixel hardware error

Returns:

COMM_NOT_AVAILABLE

when it tries to transmit to BROADCAST_ID

or the other communication results which come from PacketHandler::txRxPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::reboot	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = 0
	)		[pure virtual]

The function that makes Dynamixel reboot The function makes an instruction packet with INST_REBOOT, transmits the packet with PacketHandler::txRxPacket(), then Dynamixel reboots. During reboot, its LED will blink.

Parameters:

port	PortHandler instance
id	Dynamixel ID
error	Dynamixel hardware error

Returns:

COMM_NOT_AVAILABLE

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::regWriteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data
	)		[pure virtual]

The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, transmits the packet with PacketHandler::txPacket(). The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamxel.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
length	Length of the data for write
data	Data for write

Returns:

communication results which come from PacketHandler::txPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::regWriteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = 0
	)		[pure virtual]

The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register, and receives the packet The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, transmits and receives the packet with PacketHandler::txRxPacket(), gets the error from the packet. The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamxel.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
length	Length of the data for write
data	Data for write
error	Dynamixel hardware error

Returns:

communication results which come from PacketHandler::txRxPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::rxPacket	(	PortHandler *	port,
		uint8_t *	rxpacket
	)		[pure virtual]

The function that receives packet (rxpacket) during designated time via PortHandler port The function repeatedly tries to receive rxpacket by PortHandler::readPort() function. It breaks out when PortHandler::isPacketTimeout() shows the timeout, when rxpacket seemed as corrupted, or when nothing received.

Parameters:

port	PortHandler instance
rxpacket	received packet

Returns:

COMM_RX_CORRUPT

when it received the packet but it couldn't find header in the packet

when it found header in the packet but the id, length or error value is out of range

when it received the packet but it is shorted than expected

COMM_RX_TIMEOUT

when there is no rxpacket received until PortHandler::isPacketTimeout() shows the timeout

COMM_SUCCESS

when rxpacket passes checksum test

or COMM_RX_FAIL

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::syncReadTx	(	PortHandler *	port,
		uint16_t	start_address,
		uint16_t	data_length,
		uint8_t *	param,
		uint16_t	param_length
	)		[pure virtual]

The function that transmits INST_SYNC_READ instruction packet The function makes an instruction packet with INST_SYNC_READ, transmits the packet with PacketHandler::txPacket().

Parameters:

port	PortHandler instance
start_address	Address of the data for Sync Read
data_length	Length of the data for Sync Read
param	Parameter for Sync Read
param_length	Length of the data for Sync Read

Returns:

communication results which come from PacketHandler::txPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::syncWriteTxOnly	(	PortHandler *	port,
		uint16_t	start_address,
		uint16_t	data_length,
		uint8_t *	param,
		uint16_t	param_length
	)		[pure virtual]

The function that transmits INST_SYNC_WRITE instruction packet The function makes an instruction packet with INST_SYNC_WRITE, transmits the packet with PacketHandler::txRxPacket().

Parameters:

port	PortHandler instance
start_address	Address of the data for Sync Write
data_length	Length of the data for Sync Write
param	Parameter for Sync Write
param_length	Length of the data for Sync Write

Returns:

communication results which come from PacketHandler::txRxPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::txPacket	(	PortHandler *	port,
		uint8_t *	txpacket
	)		[pure virtual]

The function that transmits the instruction packet txpacket via PortHandler port. The function clears the port buffer by PortHandler::clearPort() function, then transmits txpacket by PortHandler::writePort() function. The function activates only when the port is not busy and when the packet is already written on the port buffer.

Parameters:

port	PortHandler instance
txpacket	packet for transmission

Returns:

COMM_PORT_BUSY

when the port is already in use

COMM_TX_ERROR

when txpacket is out of range described by TXPACKET_MAX_LEN

COMM_TX_FAIL

when written packet is shorter than expected

or COMM_SUCCESS

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::txRxPacket	(	PortHandler *	port,
		uint8_t *	txpacket,
		uint8_t *	rxpacket,
		uint8_t *	error = 0
	)		[pure virtual]

The function that transmits packet (txpacket) and receives packet (rxpacket) during designated time via PortHandler port The function calls PacketHandler::txPacket(), and calls PacketHandler::rxPacket() if it succeeds PacketHandler::txPacket(). It breaks out when it fails PacketHandler::txPacket(), when txpacket is called by PacketHandler::broadcastPing() / PacketHandler::syncWriteTxOnly() / PacketHandler::regWriteTxOnly / PacketHandler::action.

Parameters:

port	PortHandler instance
txpacket	packet for transmission
rxpacket	received packet

Returns:

COMM_SUCCESS

when it succeeds PacketHandler::txPacket() and PacketHandler::rxPacket()

or the other communication results which come from PacketHandler::txPacket() and PacketHandler::rxPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::write1ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t	data
	)		[pure virtual]

The function that calls PacketHandler::writeTxOnly() for writing 1 byte data The function calls PacketHandler::writeTxOnly() for writing 1 byte data.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
data	Data for write

Returns:

communication results which come from PacketHandler::writeTxOnly()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::write1ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t	data,
		uint8_t *	error = 0
	)		[pure virtual]

The function that calls PacketHandler::writeTxRx() for writing 1 byte data and receives the packet The function calls PacketHandler::writeTxRx() for writing 1 byte data and receves the packet, gets the error from the packet.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
data	Data for write
error	Dynamixel hardware error

Returns:

communication results which come from PacketHandler::writeTxRx()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::write2ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	data
	)		[pure virtual]

The function that calls PacketHandler::writeTxOnly() for writing 2 byte data The function calls PacketHandler::writeTxOnly() for writing 2 byte data.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
data	Data for write

Returns:

communication results which come from PacketHandler::writeTxOnly()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::write2ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	data,
		uint8_t *	error = 0
	)		[pure virtual]

The function that calls PacketHandler::writeTxRx() for writing 2 byte data and receives the packet The function calls PacketHandler::writeTxRx() for writing 2 byte data and receves the packet, gets the error from the packet.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
data	Data for write
error	Dynamixel hardware error

Returns:

communication results which come from PacketHandler::writeTxRx()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::write4ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t	data
	)		[pure virtual]

The function that calls PacketHandler::writeTxOnly() for writing 4 byte data The function calls PacketHandler::writeTxOnly() for writing 4 byte data.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
data	Data for write

Returns:

communication results which come from PacketHandler::writeTxOnly()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::write4ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t	data,
		uint8_t *	error = 0
	)		[pure virtual]

The function that calls PacketHandler::writeTxRx() for writing 4 byte data and receives the packet The function calls PacketHandler::writeTxRx() for writing 4 byte data and receves the packet, gets the error from the packet.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
data	Data for write
error	Dynamixel hardware error

Returns:

communication results which come from PacketHandler::writeTxRx()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::writeTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data
	)		[pure virtual]

The function that transmits INST_WRITE instruction packet with the data for write The function makes an instruction packet with INST_WRITE and the data for write, transmits the packet with PacketHandler::txPacket().

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
length	Length of the data for write
data	Data for write

Returns:

communication results which come from PacketHandler::txPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

virtual int dynamixel::PacketHandler::writeTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = 0
	)		[pure virtual]

The function that transmits INST_WRITE instruction packet with the data for write, and receives the packet The function makes an instruction packet with INST_WRITE and the data for write, transmits and receives the packet with PacketHandler::txRxPacket(), gets the error from the packet.

Parameters:

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
length	Length of the data for write
data	Data for write
error	Dynamixel hardware error

Returns:

communication results which come from PacketHandler::txRxPacket()

Implemented in dynamixel::Protocol2PacketHandler, and dynamixel::Protocol1PacketHandler.

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The documentation for this class was generated from the following files:

• packet_handler.h
• packet_handler.cpp