group_sync_read.h

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/*******************************************************************************
* Copyright 2017 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
 
 
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_
 
 
#include <map>
#include <vector>
#include "port_handler.h"
#include "packet_handler.h"
 
namespace dynamixel
{
 
class WINDECLSPEC GroupSyncRead
{
 private:
  PortHandler    *port_;
  PacketHandler  *ph_;
 
  std::vector<uint8_t>            id_list_;
  std::map<uint8_t, uint8_t *>    data_list_;  // <id, data>
  std::map<uint8_t, uint8_t *>    error_list_; // <id, error>
 
  bool            last_result_;
  bool            is_param_changed_;
 
  uint8_t        *param_;
  uint16_t        start_address_;
  uint16_t        data_length_;
 
  void    makeParam();
 
 public:
  GroupSyncRead(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length);
 
  ~GroupSyncRead() { clearParam(); }
 
  PortHandler     *getPortHandler()   { return port_; }
 
  PacketHandler   *getPacketHandler() { return ph_; }
 
  bool    addParam    (uint8_t id);
 
  void    removeParam (uint8_t id);
 
  void    clearParam  ();
 
  int     txPacket();
 
  int     rxPacket();
 
  int     txRxPacket();
 
  bool        isAvailable (uint8_t id, uint16_t address, uint16_t data_length);
 
  uint32_t    getData     (uint8_t id, uint16_t address, uint16_t data_length);
 
  bool        getError    (uint8_t id, uint8_t* error);
};
 
}
 
 
#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_ */