.. _program_listing_file__tmp_ws_src_dynamixel_sdk_dynamixel_sdk_include_dynamixel_sdk_group_bulk_read.h:

Program Listing for File group_bulk_read.h
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_dynamixel_sdk_dynamixel_sdk_include_dynamixel_sdk_group_bulk_read.h>` (``/tmp/ws/src/dynamixel_sdk/dynamixel_sdk/include/dynamixel_sdk/group_bulk_read.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*******************************************************************************
   * 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_GROUPBULKREAD_H_
   #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_
   
   
   #include <map>
   #include <vector>
   #include "port_handler.h"
   #include "packet_handler.h"
   
   namespace dynamixel
   {
   
   class WINDECLSPEC GroupBulkRead
   {
    private:
     PortHandler    *port_;
     PacketHandler  *ph_;
   
     std::vector<uint8_t>            id_list_;
     std::map<uint8_t, uint16_t>     address_list_;  // <id, start_address>
     std::map<uint8_t, uint16_t>     length_list_;   // <id, data_length>
     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_;
   
     void    makeParam();
   
    public:
     GroupBulkRead(PortHandler *port, PacketHandler *ph);
   
     ~GroupBulkRead() { clearParam(); }
   
     PortHandler     *getPortHandler()   { return port_; }
   
     PacketHandler   *getPacketHandler() { return ph_; }
   
     bool    addParam    (uint8_t id, uint16_t start_address, uint16_t data_length);
   
     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_GROUPBULKREAD_H_ */