CDxlCom.h

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// Dynamixel control code - header file
// Copyright (c) 2008 Erik Schuitema, Eelko van Breda
// Delft University of Technology
// www.dbl.tudelft.nl

#ifndef __DYNAMIXELCOM_H_INCLUDED__
#define __DYNAMIXELCOM_H_INCLUDED__

#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <sys/time.h>

#include <threemxl/platform/hardware/serial/LxSerial.h>
#ifdef XENOMAI
#include <threemxl/platform/hardware/serial/LxRtSerial.h>
#include <native/timer.h>
#endif //XENOMAI


#include "CDxlPacket.hpp"
#include <threemxl/platform/io/logging/Log2.h>

#define SEND_RETRY_FACTOR 1             ///< the number of times we want to retry a send if it fails
#define RECEIVE_RETRY_FACTOR 0  ///< the number of times we want to retry a receive if it fails

#define MAX_NUM_DYNAMIXELS                              254     ///< In any case, no more than 254 dynamixels may reside on one bus (IDs 0-253)

// error return codes Dynamixel Class: they are all < 0
#define DXL_SUCCESS                                             0
#define DXL_ERROR                                               -1
#define DXL_PKT_RECV_ERROR                              -9001
#define DXL_PKT_RECV_CHECKSUM_ERR               -9002
#define DXL_PKT_RECV_LENGTH_ERR                 -9003
#define DXL_PKT_RECV_ID_ERR                             -9004
#define DXL_PKT_RECV_TIMEOUT                    (-ETIMEDOUT)
#define DXL_ALREADY_INITIALIZED                 -9006
#define DXL_NOT_INITIALIZED                             -9007
#define DXL_NO_SERIAL_PORT                              -9008
#define DXL_INVALID_PARAMETER                   -9009

#define DXL_PKT_SEND_ERROR                              -9101
#define DXL_PKT_SEND_LENGTH_ERR                 -9102

#define DXL_CHECKSUM_ERROR                              0x10
// standard Dynamixel status errorcode bits
// these are now stored at  M3XL_DONE  = 0x87
#define M3XL_NO_ERROR                                           0b00000000
#define M3XL_INSTRUCTION_ERROR                          0b01000000
#define M3XL_OVERLOAD_ERROR                                     0b00100000
#define M3XL_CHECKSUM_ERROR                                     0b00010000
#define M3XL_RANGE_ERROR                                        0b00001000
#define M3XL_OVERHEATING_ERROR                          0b00000100
#define M3XL_ANGLE_LIMIT_ERROR                          0b00000010
#define M3XL_INPUT_VOLTAGE_ERROR                        0b00000001

#define M3XL_STATUS_EEPROM_ERROR                        0x80
#define M3XL_STATUS_NOT_INITIALIZED                     0x81
#define M3XL_STATUS_EM_STOP_ERROR                       0x82
#define M3XL_STATUS_INIT_TIME_OUT_ERROR         0x83
#define M3XL_STATUS_MAX_POS_ERROR                       0x84
#define M3XL_STATUS_MAX_TORQUE_ERROR            0x85
#define M3XL_STATUS_MAX_CURRENT_ERROR           0x86
#define M3XL_STATUS_MOTOR_STUCK_ERROR           0x87
#define M3XL_STATUS_JOINT_STUCK_ERROR           0x88
#define M3XL_STATUS_PROTOCOL_TIME_OUT_ERROR     0x89

// dxlPkgRecvWait // TODO: Tune these parameters
#define DXL_PKT_RECV_WAIT_TIME_USEC             100000 // 100ms
#define DXL_PKT_RECV_WAIT_TIME_SEC              0

// Instruction constants
#define INST_PING                                       0x01
#define INST_READ                                       0x02
#define INST_WRITE                                      0x03
#define INST_REG_WRITE                          0x04
#define INST_ACTION                                     0x05
#define INST_RESET                                      0x06
#define INST_DIGITAL_RESET                      0x07
#define INST_SYSTEM_READ                        0x0C
#define INST_SYSTEM_WRITE                       0x0D
#define INST_SYNC_WRITE                         0x83
#define INST_SYNC_REG_WRITE                     0x84


class CDxlPacketHandler;


class CDxlCom
{
        protected:
                CLog2           mLog;
                bool            mInitialized;
                int                     mLastError;

                LxSerial*       mSerialPort;
                CDxlPacketHandler*      mPacketHandler;
                
                int                     sendPacket(CDxlPacket *packet, bool replyExpected=true);

                int                     receivePacketWait(CDxlStatusPacket *packet, int seconds=DXL_PKT_RECV_WAIT_TIME_SEC, int microseconds=DXL_PKT_RECV_WAIT_TIME_USEC);
                //int                   receivePacket(CDxlStatusPacket *packet); //not used at the moment

        public:
                CDxlCom();

                bool            isInitialized() {return mInitialized;}


                int                     setPacketHandler(CDxlPacketHandler *packetHandler);
                
                int                     initPacketHandler();

                static const char*      translateErrorCode(int errorCode);

                int                     getLastError()                  {return mLastError;}
};

#endif // __DYNAMIXELCOM_H_INCLUDED__