.. _program_listing_file__tmp_ws_src_dynamixel_sdk_dynamixel_sdk_include_dynamixel_sdk_protocol2_packet_handler.h:

Program Listing for File protocol2_packet_handler.h
===================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_dynamixel_sdk_dynamixel_sdk_include_dynamixel_sdk_protocol2_packet_handler.h>` (``/tmp/ws/src/dynamixel_sdk/dynamixel_sdk/include/dynamixel_sdk/protocol2_packet_handler.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_PROTOCOL2PACKETHANDLER_H_
   #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_
   
   
   #include "packet_handler.h"
   
   namespace dynamixel
   {
   
   class WINDECLSPEC Protocol2PacketHandler : public PacketHandler
   {
    private:
     static Protocol2PacketHandler *unique_instance_;
   
     Protocol2PacketHandler();
   
     uint16_t    updateCRC(uint16_t crc_accum, uint8_t *data_blk_ptr, uint16_t data_blk_size);
     void        addStuffing(uint8_t *packet);
     void        removeStuffing(uint8_t *packet);
   
    public:
     static Protocol2PacketHandler *getInstance() { return unique_instance_; }
   
     virtual ~Protocol2PacketHandler() { }
   
     float   getProtocolVersion() { return 2.0; }
   
     const char *getTxRxResult     (int result);
   
     const char *getRxPacketError  (uint8_t error);
   
     int txPacket        (PortHandler *port, uint8_t *txpacket);
   
     int rxPacket        (PortHandler *port, uint8_t *rxpacket);
   
     int txRxPacket      (PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error = 0);
   
     int ping            (PortHandler *port, uint8_t id, uint8_t *error = 0);
   
     int ping            (PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error = 0);
   
     int broadcastPing   (PortHandler *port, std::vector<uint8_t> &id_list);
   
     int action          (PortHandler *port, uint8_t id);
   
     int reboot          (PortHandler *port, uint8_t id, uint8_t *error = 0);
   
     int clearMultiTurn  (PortHandler *port, uint8_t id, uint8_t *error = 0);
   
     int factoryReset    (PortHandler *port, uint8_t id, uint8_t option, uint8_t *error = 0);
   
     int readTx          (PortHandler *port, uint8_t id, uint16_t address, uint16_t length);
   
     int readRx          (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0);
   
     int readTxRx        (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0);
   
     int read1ByteTx     (PortHandler *port, uint8_t id, uint16_t address);
   
     int read1ByteRx     (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0);
   
     int read1ByteTxRx       (PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error = 0);
   
     int read2ByteTx     (PortHandler *port, uint8_t id, uint16_t address);
   
     int read2ByteRx     (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0);
   
     int read2ByteTxRx       (PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error = 0);
   
     int read4ByteTx     (PortHandler *port, uint8_t id, uint16_t address);
   
     int read4ByteRx     (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0);
   
     int read4ByteTxRx       (PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error = 0);
   
     int writeTxOnly     (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data);
   
     int writeTxRx           (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0);
   
     int write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data);
   
     int write1ByteTxRx      (PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error = 0);
   
     int write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data);
   
     int write2ByteTxRx      (PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error = 0);
   
     int write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data);
   
     int write4ByteTxRx      (PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error = 0);
   
     int regWriteTxOnly  (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data);
   
     int regWriteTxRx        (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0);
   
   
     int syncReadTx      (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length);
     // SyncReadRx   -> GroupSyncRead class
     // SyncReadTxRx -> GroupSyncRead class
   
     int syncWriteTxOnly (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length);
   
     int bulkReadTx      (PortHandler *port, uint8_t *param, uint16_t param_length);
     // BulkReadRx   -> GroupBulkRead class
     // BulkReadTxRx -> GroupBulkRead class
   
     int bulkWriteTxOnly (PortHandler *port, uint8_t *param, uint16_t param_length);
   };
   
   }
   
   
   #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_ */