group_bulk_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_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_ */