The class for writing multiple Dynamixel data from different addresses with different lengths at once. More...

#include <group_bulk_write.h>

Public Member Functions
bool	addParam (uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data)
	The function that adds id, start_address, data_length to the Bulk Write list. More...

bool	changeParam (uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data)
	The function that changes the data for write in id -> start_address -> data_length to the Bulk Write list. More...

void	clearParam ()
	The function that clears the Bulk Write list. More...

PacketHandler *	getPacketHandler ()
	The function that returns PacketHandler instance. More...

PortHandler *	getPortHandler ()
	The function that returns PortHandler instance. More...

	GroupBulkWrite (PortHandler port, PacketHandler ph)
	The function that Initializes instance for Bulk Write. More...

void	removeParam (uint8_t id)
	The function that removes id from the Bulk Write list. More...

int	txPacket ()
	The function that transmits the Bulk Write instruction packet which might be constructed by GroupBulkWrite::addParam function. More...

	~GroupBulkWrite ()
	The function that calls clearParam function to clear the parameter list for Bulk Write. More...

Private Member Functions
void	makeParam ()

Private Attributes
std::map< uint8_t, uint16_t >	address_list_

std::map< uint8_t, uint8_t * >	data_list_

std::vector< uint8_t >	id_list_

bool	is_param_changed_

std::map< uint8_t, uint16_t >	length_list_

uint8_t *	param_

uint16_t	param_length_

PacketHandler *	ph_

PortHandler *	port_

Detailed Description

The class for writing multiple Dynamixel data from different addresses with different lengths at once.

Definition at line 37 of file group_bulk_write.h.

Constructor & Destructor Documentation

GroupBulkWrite::GroupBulkWrite	(	PortHandler *	port,
		PacketHandler *	ph
	)

The function that Initializes instance for Bulk Write.

Parameters

port	PortHandler instance
ph	PacketHandler instance

Definition at line 34 of file group_bulk_write.cpp.

dynamixel::GroupBulkWrite::~GroupBulkWrite ( )

inline

The function that calls clearParam function to clear the parameter list for Bulk Write.

Definition at line 66 of file group_bulk_write.h.

Member Function Documentation

bool GroupBulkWrite::addParam	(	uint8_t	id,
		uint16_t	start_address,
		uint16_t	data_length,
		uint8_t *	data
	)

The function that adds id, start_address, data_length to the Bulk Write list.

Parameters

id	Dynamixel ID
start_address	Address of the data for write
data_length	Length of the data for write

Returns: false; when the ID exists already in the list; or true

Definition at line 76 of file group_bulk_write.cpp.

bool GroupBulkWrite::changeParam	(	uint8_t	id,
		uint16_t	start_address,
		uint16_t	data_length,
		uint8_t *	data
	)

The function that changes the data for write in id -> start_address -> data_length to the Bulk Write list.

Parameters

id	Dynamixel ID
start_address	Address of the data for write
data_length	Length of the data for write
data	for replacement

Returns: false; when the ID doesn't exist in the list; or true

Definition at line 111 of file group_bulk_write.cpp.

void GroupBulkWrite::clearParam ( )

The function that clears the Bulk Write list.

Definition at line 130 of file group_bulk_write.cpp.

PacketHandler* dynamixel::GroupBulkWrite::getPacketHandler ( )

inline

The function that returns PacketHandler instance.

Returns: PacketHandler instance

Definition at line 78 of file group_bulk_write.h.

PortHandler* dynamixel::GroupBulkWrite::getPortHandler ( )

inline

The function that returns PortHandler instance.

Returns: PortHandler instance

Definition at line 72 of file group_bulk_write.h.

void GroupBulkWrite::makeParam ( )

private

Definition at line 44 of file group_bulk_write.cpp.

void GroupBulkWrite::removeParam ( uint8_t id )

The function that removes id from the Bulk Write list.

Parameters

id	Dynamixel ID

Definition at line 94 of file group_bulk_write.cpp.

int GroupBulkWrite::txPacket ( )

The function that transmits the Bulk Write instruction packet which might be constructed by GroupBulkWrite::addParam function.

Returns: COMM_NOT_AVAILABLE; when the list for Bulk Write is empty; when Protocol1.0 has been used; or the other communication results which come from PacketHandler::bulkWriteTxOnly

Definition at line 146 of file group_bulk_write.cpp.

Member Data Documentation

std::map<uint8_t, uint16_t> dynamixel::GroupBulkWrite::address_list_

private

Definition at line 44 of file group_bulk_write.h.

std::map<uint8_t, uint8_t *> dynamixel::GroupBulkWrite::data_list_

private

Definition at line 46 of file group_bulk_write.h.

std::vector<uint8_t> dynamixel::GroupBulkWrite::id_list_

private

Definition at line 43 of file group_bulk_write.h.

bool dynamixel::GroupBulkWrite::is_param_changed_

private

Definition at line 48 of file group_bulk_write.h.

std::map<uint8_t, uint16_t> dynamixel::GroupBulkWrite::length_list_

private

Definition at line 45 of file group_bulk_write.h.

uint8_t* dynamixel::GroupBulkWrite::param_

private

Definition at line 50 of file group_bulk_write.h.

uint16_t dynamixel::GroupBulkWrite::param_length_

private

Definition at line 51 of file group_bulk_write.h.

PacketHandler* dynamixel::GroupBulkWrite::ph_

private

Definition at line 41 of file group_bulk_write.h.

PortHandler* dynamixel::GroupBulkWrite::port_

private

Definition at line 40 of file group_bulk_write.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation