Class Communicator

Defined in File hardware_communicator.hpp

Class Documentation

class Communicator

Public Functions

explicit Communicator(const std::string device_name)

~Communicator()

bool is_connected()

bool connect(const int baudrate = 3000000)

void disconnect()

void make_sync_read_group(const group_name_t &group_name, const dxl_address_t &start_address, const dxl_data_length_t &data_length)

void make_sync_write_group(const group_name_t &group_name, const dxl_address_t &start_address, const dxl_data_length_t &data_length)

bool append_id_to_sync_read_group(const group_name_t &group_name, const dxl_id_t &id)

bool append_id_to_sync_write_group(const group_name_t &group_name, const dxl_id_t &id, std::vector<dxl_byte_t> &init_data)

bool send_sync_read_packet(const group_name_t &group_name)

bool send_sync_write_packet(const group_name_t &group_name)

bool get_sync_read_data(const group_name_t &group_name, const dxl_id_t id, const dxl_address_t &address, const dxl_data_length_t &length, dxl_double_word_t &read_data)

bool set_sync_write_data(const group_name_t &group_name, const dxl_id_t id, std::vector<dxl_byte_t> &write_data)

bool write_byte_data(const dxl_id_t &id, const dxl_address_t &address, const dxl_byte_t &write_data)

bool write_word_data(const dxl_id_t &id, const dxl_address_t &address, const dxl_word_t &write_data)

bool write_double_word_data(const dxl_id_t &id, const dxl_address_t &address, const dxl_double_word_t &write_data)

bool read_byte_data(const dxl_id_t &id, const dxl_address_t &address, dxl_byte_t &read_data)

bool read_word_data(const dxl_id_t &id, const dxl_address_t &address, dxl_word_t &read_data)

bool read_double_word_data(const dxl_id_t &id, const dxl_address_t &address, dxl_double_word_t &read_data)