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.
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.
void	clearParam ()
	The function that clears the Bulk Write list.
PacketHandler *	getPacketHandler ()
	The function that returns PacketHandler instance.
PortHandler *	getPortHandler ()
	The function that returns PortHandler instance.
	GroupBulkWrite (PortHandler port, PacketHandler ph)
	The function that Initializes instance for Bulk Write.
void	removeParam (uint8_t id)
	The function that removes id from the Bulk Write list.
int	txPacket ()
	The function that transmits the Bulk Write instruction packet which might be constructed by GroupBulkWrite::addParam function.
	~GroupBulkWrite ()
	The function that calls clearParam function to clear the parameter list for Bulk Write.
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.