The class for writing multiple Dynamixel data from same address with same length at once. More...

#include <group_sync_write.h>

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

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

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

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

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

	GroupSyncWrite (PortHandler port, PacketHandler ph, uint16_t start_address, uint16_t data_length)
	The function that Initializes instance for Sync Write. More...

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

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

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

Private Member Functions
void	makeParam ()

Private Attributes
uint16_t	data_length_

std::map< uint8_t, uint8_t * >	data_list_

std::vector< uint8_t >	id_list_

bool	is_param_changed_

uint8_t *	param_

PacketHandler *	ph_

PortHandler *	port_

uint16_t	start_address_

Detailed Description

The class for writing multiple Dynamixel data from same address with same length at once.

Definition at line 37 of file group_sync_write.h.

Constructor & Destructor Documentation

GroupSyncWrite::GroupSyncWrite	(	PortHandler *	port,
		PacketHandler *	ph,
		uint16_t	start_address,
		uint16_t	data_length
	)

The function that Initializes instance for Sync Write.

Parameters

port	PortHandler instance
ph	PacketHandler instance
start_address	Address of the data for write
data_length	Length of the data for write

Definition at line 34 of file group_sync_write.cpp.

dynamixel::GroupSyncWrite::~GroupSyncWrite ( )

inline

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

Definition at line 67 of file group_sync_write.h.

Member Function Documentation

bool GroupSyncWrite::addParam	(	uint8_t	id,
		uint8_t *	data
	)

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

Parameters

id	Dynamixel ID
data	Data for write

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

Definition at line 68 of file group_sync_write.cpp.

bool GroupSyncWrite::changeParam	(	uint8_t	id,
		uint8_t *	data
	)

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

Parameters

id	Dynamixel ID
data	for replacement

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

Definition at line 95 of file group_sync_write.cpp.

void GroupSyncWrite::clearParam ( )

The function that clears the Sync Write list.

Definition at line 110 of file group_sync_write.cpp.

PacketHandler* dynamixel::GroupSyncWrite::getPacketHandler ( )

inline

The function that returns PacketHandler instance.

Returns: PacketHandler instance

Definition at line 79 of file group_sync_write.h.

PortHandler* dynamixel::GroupSyncWrite::getPortHandler ( )

inline

The function that returns PortHandler instance.

Returns: PortHandler instance

Definition at line 73 of file group_sync_write.h.

void GroupSyncWrite::makeParam ( )

private

Definition at line 45 of file group_sync_write.cpp.

void GroupSyncWrite::removeParam ( uint8_t id )

The function that removes id from the Sync Write list.

Parameters

id	Dynamixel ID

Definition at line 82 of file group_sync_write.cpp.

int GroupSyncWrite::txPacket ( )

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

Returns: COMM_NOT_AVAILABLE; when the list for Sync Write is empty; or the other communication results which come from PacketHandler::syncWriteTxOnly

Definition at line 125 of file group_sync_write.cpp.

Member Data Documentation

uint16_t dynamixel::GroupSyncWrite::data_length_

private

Definition at line 50 of file group_sync_write.h.

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

private

Definition at line 44 of file group_sync_write.h.

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

private

Definition at line 43 of file group_sync_write.h.

bool dynamixel::GroupSyncWrite::is_param_changed_

private

Definition at line 46 of file group_sync_write.h.

uint8_t* dynamixel::GroupSyncWrite::param_

private

Definition at line 48 of file group_sync_write.h.

PacketHandler* dynamixel::GroupSyncWrite::ph_

private

Definition at line 41 of file group_sync_write.h.

PortHandler* dynamixel::GroupSyncWrite::port_

private

Definition at line 40 of file group_sync_write.h.

uint16_t dynamixel::GroupSyncWrite::start_address_

private

Definition at line 49 of file group_sync_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