The class for control Dynamixel by using Protocol2.0. More...

#include <protocol2_packet_handler.h>

Inheritance diagram for dynamixel::Protocol2PacketHandler:

Public Member Functions
int	action (PortHandler *port, uint8_t id)
	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 Protocol2PacketHandler::txRxPacket(). To use this function, Dynamixel register should be set by Protocol2PacketHandler::regWriteTxOnly() or Protocol2PacketHandler::regWriteTxRx()
int	broadcastPing (PortHandler *port, std::vector< uint8_t > &id_list)
	(Available only in Protocol 2.0) The function that pings all connected Dynamixel
int	bulkReadTx (PortHandler port, uint8_t param, uint16_t param_length)
	The function that transmits INST_BULK_READ instruction packet The function makes an instruction packet with INST_BULK_READ, transmits the packet with Protocol2PacketHandler::txPacket().
int	bulkWriteTxOnly (PortHandler port, uint8_t param, uint16_t param_length)
	The function that transmits INST_BULK_WRITE instruction packet The function makes an instruction packet with INST_BULK_WRITE, transmits the packet with Protocol2PacketHandler::txRxPacket().
int	factoryReset (PortHandler port, uint8_t id, uint8_t option, uint8_t error=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 Protocol2PacketHandler::txRxPacket(). Be careful of the use.
float	getProtocolVersion ()
	The function that returns Protocol version used in Protocol2PacketHandler (2.0)
const char *	getRxPacketError (uint8_t error)
	The function that gets description of hardware error.
const char *	getTxRxResult (int result)
	The function that gets description of communication result.
int	ping (PortHandler port, uint8_t id, uint8_t error=0)
	The function that pings Dynamixel but doesn't take its model number The function calls Protocol2PacketHandler::ping() which gets Dynamixel model number, but doesn't carry the model number.
int	ping (PortHandler port, uint8_t id, uint16_t model_number, uint8_t *error=0)
	The function that pings Dynamixel and takes its model number The function makes an instruction packet with INST_PING, transmits the packet with Protocol2PacketHandler::txRxPacket(), and call Protocol2PacketHandler::readTxRx to read model_number in the rx buffer. It breaks out when it tries to transmit to BROADCAST_ID.
int	read1ByteRx (PortHandler port, uint8_t id, uint8_t data, uint8_t *error=0)
	The function that calls Protocol2PacketHandler::readRx() function and reads 1 byte data on the packet The function calls Protocol2PacketHandler::readRx() function, gets 1 byte data from the packet.
int	read1ByteTx (PortHandler *port, uint8_t id, uint16_t address)
	The function that calls Protocol2PacketHandler::readTx() function for reading 1 byte data The function calls Protocol2PacketHandler::readTx() function for reading 1 byte data.
int	read1ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error=0)
	The function that calls Protocol2PacketHandler::readTxRx() function for reading 1 byte data The function calls Protocol2PacketHandler::readTxRx(), gets 1 byte data from the packet.
int	read2ByteRx (PortHandler port, uint8_t id, uint16_t data, uint8_t *error=0)
	The function that calls Protocol2PacketHandler::readRx() function and reads 2 byte data on the packet The function calls Protocol2PacketHandler::readRx() function, gets 2 byte data from the packet.
int	read2ByteTx (PortHandler *port, uint8_t id, uint16_t address)
	The function that calls Protocol2PacketHandler::readTx() function for reading 2 byte data The function calls Protocol2PacketHandler::readTx() function for reading 2 byte data.
int	read2ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error=0)
	The function that calls Protocol2PacketHandler::readTxRx() function for reading 2 byte data The function calls Protocol2PacketHandler::readTxRx(), gets 2 byte data from the packet.
int	read4ByteRx (PortHandler port, uint8_t id, uint32_t data, uint8_t *error=0)
	The function that calls Protocol2PacketHandler::readRx() function and reads 4 byte data on the packet The function calls Protocol2PacketHandler::readRx() function, gets 4 byte data from the packet.
int	read4ByteTx (PortHandler *port, uint8_t id, uint16_t address)
	The function that calls Protocol2PacketHandler::readTx() function for reading 4 byte data The function calls Protocol2PacketHandler::readTx() function for reading 4 byte data.
int	read4ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error=0)
	The function that calls Protocol2PacketHandler::readTxRx() function for reading 4 byte data The function calls Protocol2PacketHandler::readTxRx(), gets 4 byte data from the packet.
int	readRx (PortHandler port, uint8_t id, uint16_t length, uint8_t data, uint8_t *error=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.
int	readTx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length)
	The function that transmits INST_READ instruction packet The function makes an instruction packet with INST_READ, transmits the packet with Protocol2PacketHandler::txPacket(). It breaks out when it tries to transmit to BROADCAST_ID.
int	readTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data, uint8_t *error=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 Protocol2PacketHandler::txRxPacket(), gets the data from the packet. It breaks out when it tries to transmit to BROADCAST_ID.
int	reboot (PortHandler port, uint8_t id, uint8_t error=0)
	The function that makes Dynamixel reboot The function makes an instruction packet with INST_REBOOT, transmits the packet with Protocol2PacketHandler::txRxPacket(), then Dynamixel reboots. During reboot, its LED will blink.
int	regWriteTxOnly (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data)
	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 Protocol2PacketHandler::txPacket(). The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamxel.
int	regWriteTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data, uint8_t *error=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 Protocol2PacketHandler::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.
int	rxPacket (PortHandler port, uint8_t rxpacket)
	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.
int	syncReadTx (PortHandler port, uint16_t start_address, uint16_t data_length, uint8_t param, uint16_t param_length)
	The function that transmits INST_SYNC_READ instruction packet The function makes an instruction packet with INST_SYNC_READ, transmits the packet with Protocol2PacketHandler::txPacket().
int	syncWriteTxOnly (PortHandler port, uint16_t start_address, uint16_t data_length, uint8_t param, uint16_t param_length)
	The function that transmits INST_SYNC_WRITE instruction packet The function makes an instruction packet with INST_SYNC_WRITE, transmits the packet with Protocol2PacketHandler::txRxPacket().
int	txPacket (PortHandler port, uint8_t txpacket)
	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.
int	txRxPacket (PortHandler port, uint8_t txpacket, uint8_t rxpacket, uint8_t error=0)
	The function that transmits packet (txpacket) and receives packet (rxpacket) during designated time via PortHandler port The function calls Protocol2PacketHandler::txPacket(), and calls Protocol2PacketHandler::rxPacket() if it succeeds Protocol2PacketHandler::txPacket(). It breaks out when it fails Protocol2PacketHandler::txPacket(), when txpacket is called by Protocol2PacketHandler::broadcastPing() / Protocol2PacketHandler::syncWriteTxOnly() / Protocol2PacketHandler::regWriteTxOnly / Protocol2PacketHandler::action.
int	write1ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint8_t data)
	The function that calls Protocol2PacketHandler::writeTxOnly() for writing 1 byte data The function calls Protocol2PacketHandler::writeTxOnly() for writing 1 byte data.
int	write1ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint8_t data, uint8_t error=0)
	The function that calls Protocol2PacketHandler::writeTxRx() for writing 1 byte data and receives the packet The function calls Protocol2PacketHandler::writeTxRx() for writing 1 byte data and receves the packet, gets the error from the packet.
int	write2ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t data)
	The function that calls Protocol2PacketHandler::writeTxOnly() for writing 2 byte data The function calls Protocol2PacketHandler::writeTxOnly() for writing 2 byte data.
int	write2ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t data, uint8_t error=0)
	The function that calls Protocol2PacketHandler::writeTxRx() for writing 2 byte data and receives the packet The function calls Protocol2PacketHandler::writeTxRx() for writing 2 byte data and receves the packet, gets the error from the packet.
int	write4ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint32_t data)
	The function that calls Protocol2PacketHandler::writeTxOnly() for writing 4 byte data The function calls Protocol2PacketHandler::writeTxOnly() for writing 4 byte data.
int	write4ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint32_t data, uint8_t error=0)
	The function that calls Protocol2PacketHandler::writeTxRx() for writing 4 byte data and receives the packet The function calls Protocol2PacketHandler::writeTxRx() for writing 4 byte data and receves the packet, gets the error from the packet.
int	writeTxOnly (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data)
	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 Protocol2PacketHandler::txPacket().
int	writeTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data, uint8_t *error=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 Protocol2PacketHandler::txRxPacket(), gets the error from the packet.
virtual	~Protocol2PacketHandler ()
Static Public Member Functions
static Protocol2PacketHandler *	getInstance ()
	The function that returns Protocol2PacketHandler instance.
Private Member Functions
void	addStuffing (uint8_t *packet)
	Protocol2PacketHandler ()
void	removeStuffing (uint8_t *packet)
uint16_t	updateCRC (uint16_t crc_accum, uint8_t *data_blk_ptr, uint16_t data_blk_size)
Static Private Attributes
static Protocol2PacketHandler *	unique_instance_ = new Protocol2PacketHandler()

Detailed Description

The class for control Dynamixel by using Protocol2.0.

Definition at line 34 of file protocol2_packet_handler.h.

Constructor & Destructor Documentation

Protocol2PacketHandler::Protocol2PacketHandler ( ) [private]

Definition at line 64 of file protocol2_packet_handler.cpp.

virtual dynamixel::Protocol2PacketHandler::~Protocol2PacketHandler ( ) [inline, virtual]

Definition at line 52 of file protocol2_packet_handler.h.

Member Function Documentation

int Protocol2PacketHandler::action	(	PortHandler *	port,
		uint8_t	id
	)		`[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 Protocol2PacketHandler::txRxPacket(). To use this function, Dynamixel register should be set by Protocol2PacketHandler::regWriteTxOnly() or Protocol2PacketHandler::regWriteTxRx()

Parameters:

port	PortHandler instance
id	Dynamixel ID

Returns:: communication results which come from Protocol2PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 573 of file protocol2_packet_handler.cpp.

void Protocol2PacketHandler::addStuffing ( uint8_t * packet ) [private]

Definition at line 191 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::broadcastPing	(	PortHandler *	port,
		std::vector< uint8_t > &	id_list
	)		`[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

Implements dynamixel::PacketHandler.

Definition at line 479 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::bulkReadTx	(	PortHandler *	port,
		uint8_t *	param,
		uint16_t	param_length
	)		`[virtual]`

The function that transmits INST_BULK_READ instruction packet The function makes an instruction packet with INST_BULK_READ, transmits the packet with Protocol2PacketHandler::txPacket().

Parameters:

port	PortHandler instance
param	Parameter for Bulk Read {ID1, ADDR_L1, ADDR_H1, LEN_L1, LEN_H1, ID2, ADDR_L2, ADDR_H2, LEN_L2, LEN_H2, ...}
param_length	Length of the data for Bulk Read

Returns:: communication results which come from Protocol2PacketHandler::txPacket()

Implements dynamixel::PacketHandler.

Definition at line 962 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::bulkWriteTxOnly	(	PortHandler *	port,
		uint8_t *	param,
		uint16_t	param_length
	)		`[virtual]`

The function that transmits INST_BULK_WRITE instruction packet The function makes an instruction packet with INST_BULK_WRITE, transmits the packet with Protocol2PacketHandler::txRxPacket().

Parameters:

port	PortHandler instance
param	Parameter for Bulk Write {ID1, START_ADDR_L, START_ADDR_H, DATA_LEN_L, DATA_LEN_H, DATA0, DATA1, ..., DATAn, ID2, START_ADDR_L, START_ADDR_H, DATA_LEN_L, DATA_LEN_H, DATA0, DATA1, ..., DATAn}
param_length	Length of the data for Bulk Write

Returns:: communication results which come from Protocol2PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 993 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::factoryReset	(	PortHandler *	port,
		uint8_t	id,
		uint8_t	option,
		uint8_t *	error = `0`
	)		`[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 Protocol2PacketHandler::txRxPacket(). Be careful of the use.

Parameters:

port	PortHandler instance
id	Dynamixel ID
option	Reset option (0xFF for reset all values / 0x01 for reset all values except ID / 0x02 for reset all values except ID and Baudrate)
error	Dynamixel hardware error

Returns:: communication results which come from Protocol2PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 598 of file protocol2_packet_handler.cpp.

static Protocol2PacketHandler* dynamixel::Protocol2PacketHandler::getInstance ( ) [inline, static]

The function that returns Protocol2PacketHandler instance.

Returns:: Protocol2PacketHandler instance

Definition at line 50 of file protocol2_packet_handler.h.

float dynamixel::Protocol2PacketHandler::getProtocolVersion ( ) [inline, virtual]

The function that returns Protocol version used in Protocol2PacketHandler (2.0)

Returns:: 2.0

Implements dynamixel::PacketHandler.

Definition at line 58 of file protocol2_packet_handler.h.

const char * Protocol2PacketHandler::getRxPacketError ( uint8_t error ) [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)

Implements dynamixel::PacketHandler.

Definition at line 102 of file protocol2_packet_handler.cpp.

const char * Protocol2PacketHandler::getTxRxResult ( int result ) [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)

Implements dynamixel::PacketHandler.

Definition at line 66 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::ping	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = `0`
	)		`[virtual]`

The function that pings Dynamixel but doesn't take its model number The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::ping()

Implements dynamixel::PacketHandler.

Definition at line 452 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::ping	(	PortHandler *	port,
		uint8_t	id,
		uint16_t *	model_number,
		uint8_t *	error = `0`
	)		`[virtual]`

The function that pings Dynamixel and takes its model number The function makes an instruction packet with INST_PING, transmits the packet with Protocol2PacketHandler::txRxPacket(), and call Protocol2PacketHandler::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 Protocol2PacketHandler::txRxPacket() and Protocol2PacketHandler::readTxRx()

Implements dynamixel::PacketHandler.

Definition at line 457 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::read1ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	data,
		uint8_t *	error = `0`
	)		`[virtual]`

The function that calls Protocol2PacketHandler::readRx() function and reads 1 byte data on the packet The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::readRx()

Implements dynamixel::PacketHandler.

Definition at line 709 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::read1ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)		`[virtual]`

The function that calls Protocol2PacketHandler::readTx() function for reading 1 byte data The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::readTx()

Implements dynamixel::PacketHandler.

Definition at line 705 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::read1ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t *	data,
		uint8_t *	error = `0`
	)		`[virtual]`

The function that calls Protocol2PacketHandler::readTxRx() function for reading 1 byte data The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 717 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::read2ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t *	data,
		uint8_t *	error = `0`
	)		`[virtual]`

The function that calls Protocol2PacketHandler::readRx() function and reads 2 byte data on the packet The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::readRx()

Implements dynamixel::PacketHandler.

Definition at line 730 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::read2ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)		`[virtual]`

The function that calls Protocol2PacketHandler::readTx() function for reading 2 byte data The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::readTx()

Implements dynamixel::PacketHandler.

Definition at line 726 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::read2ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t *	data,
		uint8_t *	error = `0`
	)		`[virtual]`

The function that calls Protocol2PacketHandler::readTxRx() function for reading 2 byte data The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 738 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::read4ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint32_t *	data,
		uint8_t *	error = `0`
	)		`[virtual]`

The function that calls Protocol2PacketHandler::readRx() function and reads 4 byte data on the packet The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::readRx()

Implements dynamixel::PacketHandler.

Definition at line 751 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::read4ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)		`[virtual]`

The function that calls Protocol2PacketHandler::readTx() function for reading 4 byte data The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::readTx()

Implements dynamixel::PacketHandler.

Definition at line 747 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::read4ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t *	data,
		uint8_t *	error = `0`
	)		`[virtual]`

The function that calls Protocol2PacketHandler::readTxRx() function for reading 4 byte data The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 759 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::readRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)		`[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 Protocol2PacketHandler::rxPacket()

Implements dynamixel::PacketHandler.

Definition at line 639 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::readTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length
	)		`[virtual]`

The function that transmits INST_READ instruction packet The function makes an instruction packet with INST_READ, transmits the packet with Protocol2PacketHandler::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 Protocol2PacketHandler::txPacket()

Implements dynamixel::PacketHandler.

Definition at line 612 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::readTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)		`[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 Protocol2PacketHandler::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 Protocol2PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 667 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::reboot	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = `0`
	)		`[virtual]`

The function that makes Dynamixel reboot The function makes an instruction packet with INST_REBOOT, transmits the packet with Protocol2PacketHandler::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

Implements dynamixel::PacketHandler.

Definition at line 585 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::regWriteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data
	)		`[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 Protocol2PacketHandler::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 Protocol2PacketHandler::txPacket()

Implements dynamixel::PacketHandler.

Definition at line 854 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::regWriteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)		`[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 Protocol2PacketHandler::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 Protocol2PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 880 of file protocol2_packet_handler.cpp.

void Protocol2PacketHandler::removeStuffing ( uint8_t * packet ) [private]

Definition at line 228 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::rxPacket	(	PortHandler *	port,
		uint8_t *	rxpacket
	)		`[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

Implements dynamixel::PacketHandler.

Definition at line 295 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::syncReadTx	(	PortHandler *	port,
		uint16_t	start_address,
		uint16_t	data_length,
		uint8_t *	param,
		uint16_t	param_length
	)		`[virtual]`

The function that transmits INST_SYNC_READ instruction packet The function makes an instruction packet with INST_SYNC_READ, transmits the packet with Protocol2PacketHandler::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 Protocol2PacketHandler::txPacket()

Implements dynamixel::PacketHandler.

Definition at line 906 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::syncWriteTxOnly	(	PortHandler *	port,
		uint16_t	start_address,
		uint16_t	data_length,
		uint8_t *	param,
		uint16_t	param_length
	)		`[virtual]`

The function that transmits INST_SYNC_WRITE instruction packet The function makes an instruction packet with INST_SYNC_WRITE, transmits the packet with Protocol2PacketHandler::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 {ID1, DATA0, DATA1, ..., DATAn, ID2, DATA0, DATA1, ..., DATAn, ID3, DATA0, DATA1, ..., DATAn}
param_length	Length of the data for Sync Write

Returns:: communication results which come from Protocol2PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 934 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::txPacket	(	PortHandler *	port,
		uint8_t *	txpacket
	)		`[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

Implements dynamixel::PacketHandler.

Definition at line 251 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::txRxPacket	(	PortHandler *	port,
		uint8_t *	txpacket,
		uint8_t *	rxpacket,
		uint8_t *	error = `0`
	)		`[virtual]`

Parameters:

port	PortHandler instance
txpacket	packet for transmission
rxpacket	received packet

Returns:: COMM_SUCCESS; when it succeeds Protocol2PacketHandler::txPacket() and Protocol2PacketHandler::rxPacket(); or the other communication results which come from Protocol2PacketHandler::txPacket() and Protocol2PacketHandler::rxPacket()

Implements dynamixel::PacketHandler.

Definition at line 406 of file protocol2_packet_handler.cpp.

unsigned short Protocol2PacketHandler::updateCRC	(	uint16_t	crc_accum,
		uint8_t *	data_blk_ptr,
		uint16_t	data_blk_size
	)		`[private]`

Definition at line 140 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::write1ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t	data
	)		`[virtual]`

The function that calls Protocol2PacketHandler::writeTxOnly() for writing 1 byte data The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::writeTxOnly()

Implements dynamixel::PacketHandler.

Definition at line 821 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::write1ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t	data,
		uint8_t *	error = `0`
	)		`[virtual]`

The function that calls Protocol2PacketHandler::writeTxRx() for writing 1 byte data and receives the packet The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::writeTxRx()

Implements dynamixel::PacketHandler.

Definition at line 826 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::write2ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	data
	)		`[virtual]`

The function that calls Protocol2PacketHandler::writeTxOnly() for writing 2 byte data The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::writeTxOnly()

Implements dynamixel::PacketHandler.

Definition at line 832 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::write2ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	data,
		uint8_t *	error = `0`
	)		`[virtual]`

The function that calls Protocol2PacketHandler::writeTxRx() for writing 2 byte data and receives the packet The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::writeTxRx()

Implements dynamixel::PacketHandler.

Definition at line 837 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::write4ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t	data
	)		`[virtual]`

The function that calls Protocol2PacketHandler::writeTxOnly() for writing 4 byte data The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::writeTxOnly()

Implements dynamixel::PacketHandler.

Definition at line 843 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::write4ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t	data,
		uint8_t *	error = `0`
	)		`[virtual]`

The function that calls Protocol2PacketHandler::writeTxRx() for writing 4 byte data and receives the packet The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::writeTxRx()

Implements dynamixel::PacketHandler.

Definition at line 848 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::writeTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data
	)		`[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 Protocol2PacketHandler::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 Protocol2PacketHandler::txPacket()

Implements dynamixel::PacketHandler.

Definition at line 769 of file protocol2_packet_handler.cpp.

int Protocol2PacketHandler::writeTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)		`[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 Protocol2PacketHandler::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 Protocol2PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 795 of file protocol2_packet_handler.cpp.

Member Data Documentation

Protocol2PacketHandler * Protocol2PacketHandler::unique_instance_ = new Protocol2PacketHandler() [static, private]

Definition at line 37 of file protocol2_packet_handler.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation