Class PacketHandler

Inheritance Relationships

Derived Types

Class Documentation

class PacketHandler

The class that inherits Protocol1PacketHandler class or Protocol2PacketHandler class.

Subclassed by dynamixel::Protocol1PacketHandler, dynamixel::Protocol2PacketHandler

Public Functions

inline virtual ~PacketHandler()
virtual float getProtocolVersion() = 0

The function that returns Protocol version.

Returns:

protocol version

virtual const char *getTxRxResult(int result) = 0

The function that gets description of communication result.

Parameters:

result – Communication result which might be gotten by the tx rx functions

Returns:

description of communication result in const char* (string)

virtual const char *getRxPacketError(uint8_t error) = 0

The function that gets description of hardware error.

Parameters:

error – Dynamixel hardware error which might be gotten by the tx rx functions

Returns:

description of hardware error in const char* (string)

virtual int txPacket(PortHandler *port, uint8_t *txpacket) = 0

The function that transmits the instruction packet txpacket via PortHandler port. @description The function clears the port buffer by PortHandler::clearPort() function, @description then transmits txpacket by PortHandler::writePort() function. @description The function activates only when the port is not busy and when the packet is already written on the port buffer.

Parameters:

  • port – PortHandler instance

  • txpacket – packet for transmission

Returns:

COMM_PORT_BUSY

Returns:

when the port is already in use

Returns:

COMM_TX_ERROR

Returns:

when txpacket is out of range described by TXPACKET_MAX_LEN

Returns:

COMM_TX_FAIL

Returns:

when written packet is shorter than expected

Returns:

or COMM_SUCCESS

virtual int rxPacket(PortHandler *port, uint8_t *rxpacket) = 0

The function that receives packet (rxpacket) during designated time via PortHandler port @description The function repeatedly tries to receive rxpacket by PortHandler::readPort() function. @description It breaks out @description when PortHandler::isPacketTimeout() shows the timeout, @description when rxpacket seemed as corrupted, or @description when nothing received.

Parameters:

  • port – PortHandler instance

  • rxpacket – received packet

Returns:

COMM_RX_CORRUPT

Returns:

when it received the packet but it couldn’t find header in the packet

Returns:

when it found header in the packet but the id, length or error value is out of range

Returns:

when it received the packet but it is shorted than expected

Returns:

COMM_RX_TIMEOUT

Returns:

when there is no rxpacket received until PortHandler::isPacketTimeout() shows the timeout

Returns:

COMM_SUCCESS

Returns:

when rxpacket passes checksum test

Returns:

or COMM_RX_FAIL

virtual int txRxPacket(PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error = 0) = 0

The function that transmits packet (txpacket) and receives packet (rxpacket) during designated time via PortHandler port @description The function calls PacketHandler::txPacket(), @description and calls PacketHandler::rxPacket() if it succeeds PacketHandler::txPacket(). @description It breaks out @description when it fails PacketHandler::txPacket(), @description when txpacket is called by PacketHandler::broadcastPing() / PacketHandler::syncWriteTxOnly() / PacketHandler::regWriteTxOnly / PacketHandler::action.

Parameters:

  • port – PortHandler instance

  • txpacket – packet for transmission

  • rxpacket – received packet

Returns:

COMM_SUCCESS

Returns:

when it succeeds PacketHandler::txPacket() and PacketHandler::rxPacket()

Returns:

or the other communication results which come from PacketHandler::txPacket() and PacketHandler::rxPacket()

virtual int ping(PortHandler *port, uint8_t id, uint8_t *error = 0) = 0

The function that pings Dynamixel but doesn’t take its model number @description The function calls PacketHandler::ping() which gets Dynamixel model number, @description but doesn’t carry the model number.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::ping()

virtual int ping(PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error = 0) = 0

The function that pings Dynamixel and takes its model number @description The function makes an instruction packet with INST_PING, @description transmits the packet with PacketHandler::txRxPacket(), @description and call PacketHandler::readTxRx to read model_number in the rx buffer. @description It breaks out @description when it tries to transmit to BROADCAST_ID.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • error – Dynamixel hardware error

Returns:

COMM_NOT_AVAILABLE

Returns:

when it tries to transmit to BROADCAST_ID

Returns:

COMM_SUCCESS

Returns:

when it succeeds to ping Dynamixel and get model_number from it

Returns:

or the other communication results which come from PacketHandler::txRxPacket() and PacketHandler::readTxRx()

virtual int broadcastPing(PortHandler *port, std::vector<uint8_t> &id_list) = 0

(Available only in Protocol 2.0) The function that pings all connected Dynamixel

Parameters:

  • port – PortHandler instance

  • id_list – ID list of Dynamixels which are found by broadcast ping

Returns:

COMM_NOT_AVAILABLE

virtual int action(PortHandler *port, uint8_t id) = 0

The function that makes Dynamixels run as written in the Dynamixel register @description The function makes an instruction packet with INST_ACTION, @description transmits the packet with PacketHandler::txRxPacket(). @description To use this function, Dynamixel register should be set by PacketHandler::regWriteTxOnly() or PacketHandler::regWriteTxRx()

Parameters:
Returns:

communication results which come from PacketHandler::txRxPacket()

virtual int reboot(PortHandler *port, uint8_t id, uint8_t *error = 0) = 0

The function that makes Dynamixel reboot @description The function makes an instruction packet with INST_REBOOT, @description transmits the packet with PacketHandler::txRxPacket(), @description then Dynamixel reboots. @description During reboot, its LED will blink.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • error – Dynamixel hardware error

Returns:

COMM_NOT_AVAILABLE

virtual int clearMultiTurn(PortHandler *port, uint8_t id, uint8_t *error = 0) = 0

The function that reset multi-turn revolution information of Dynamixel @description The function makes an instruction packet with INST_CLEAR, @description transmits the packet with PacketHandler::txRxPacket(). @description Applied Products : MX with Protocol 2.0 (Firmware v42 or above), @description Dynamixel X-series (Firmware v42 or above).

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::txRxPacket()

virtual int factoryReset(PortHandler *port, uint8_t id, uint8_t option = 0, uint8_t *error = 0) = 0

The function that makes Dynamixel reset as it was produced in the factory @description The function makes an instruction packet with INST_FACTORY_RESET, @description transmits the packet with PacketHandler::txRxPacket(). @description Be careful of the use.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • option – Reset option

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::txRxPacket()

virtual int readTx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length) = 0

The function that transmits INST_READ instruction packet @description The function makes an instruction packet with INST_READ, @description transmits the packet with PacketHandler::txPacket(). @description It breaks out @description when it tries to transmit to BROADCAST_ID.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for read

  • length – Length of the data for read

Returns:

COMM_NOT_AVAILABLE

Returns:

when it tries to transmit to BROADCAST_ID

Returns:

or the other communication results which come from PacketHandler::txPacket()

virtual int readRx(PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0

The function that receives the packet and reads the data in the packet @description The function receives the packet which might be come by previous INST_READ instruction packet transmission, @description gets the data from the packet.

Parameters:

  • port – PortHandler instance

  • length – Length of the data for read

  • data – Data extracted from the packet

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::rxPacket()

virtual int readTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0

The function that transmits INST_READ instruction packet, and read data from received packet @description The function makes an instruction packet with INST_READ, @description transmits and receives the packet with PacketHandler::txRxPacket(), @description gets the data from the packet. @description It breaks out @description when it tries to transmit to BROADCAST_ID.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for read

  • length – Length of the data for read

  • data – Data extracted from the packet

  • error – Dynamixel hardware error

Returns:

COMM_NOT_AVAILABLE

Returns:

when it tries to transmit to BROADCAST_ID

Returns:

or the other communication results which come from PacketHandler::txRxPacket()

virtual int read1ByteTx(PortHandler *port, uint8_t id, uint16_t address) = 0

The function that calls PacketHandler::readTx() function for reading 1 byte data @description The function calls PacketHandler::readTx() function for reading 1 byte data.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for read

Returns:

communication results which come from PacketHandler::readTx()

virtual int read1ByteRx(PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0) = 0

The function that calls PacketHandler::readRx() function and reads 1 byte data on the packet @description The function calls PacketHandler::readRx() function, @description gets 1 byte data from the packet.

Parameters:

  • port – PortHandler instance

  • data – Data extracted from the packet

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::readRx()

virtual int read1ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error = 0) = 0

The function that calls PacketHandler::readTxRx() function for reading 1 byte data @description The function calls PacketHandler::readTxRx(), @description gets 1 byte data from the packet.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for read

  • length – Length of the data for read

  • data – Data extracted from the packet

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::txRxPacket()

virtual int read2ByteTx(PortHandler *port, uint8_t id, uint16_t address) = 0

The function that calls PacketHandler::readTx() function for reading 2 byte data @description The function calls PacketHandler::readTx() function for reading 2 byte data.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for read

Returns:

communication results which come from PacketHandler::readTx()

virtual int read2ByteRx(PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0) = 0

The function that calls PacketHandler::readRx() function and reads 2 byte data on the packet @description The function calls PacketHandler::readRx() function, @description gets 2 byte data from the packet.

Parameters:

  • port – PortHandler instance

  • data – Data extracted from the packet

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::readRx()

virtual int read2ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error = 0) = 0

The function that calls PacketHandler::readTxRx() function for reading 2 byte data @description The function calls PacketHandler::readTxRx(), @description gets 2 byte data from the packet.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for read

  • length – Length of the data for read

  • data – Data extracted from the packet

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::txRxPacket()

virtual int read4ByteTx(PortHandler *port, uint8_t id, uint16_t address) = 0

The function that calls PacketHandler::readTx() function for reading 4 byte data @description The function calls PacketHandler::readTx() function for reading 4 byte data.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for read

Returns:

communication results which come from PacketHandler::readTx()

virtual int read4ByteRx(PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0) = 0

The function that calls PacketHandler::readRx() function and reads 4 byte data on the packet @description The function calls PacketHandler::readRx() function, @description gets 4 byte data from the packet.

Parameters:

  • port – PortHandler instance

  • data – Data extracted from the packet

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::readRx()

virtual int read4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error = 0) = 0

The function that calls PacketHandler::readTxRx() function for reading 4 byte data @description The function calls PacketHandler::readTxRx(), @description gets 4 byte data from the packet.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for read

  • length – Length of the data for read

  • data – Data extracted from the packet

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::txRxPacket()

virtual int writeTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) = 0

The function that transmits INST_WRITE instruction packet with the data for write @description The function makes an instruction packet with INST_WRITE and the data for write, @description transmits the packet with PacketHandler::txPacket().

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for write

  • length – Length of the data for write

  • data – Data for write

Returns:

communication results which come from PacketHandler::txPacket()

virtual int writeTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0

The function that transmits INST_WRITE instruction packet with the data for write, and receives the packet @description The function makes an instruction packet with INST_WRITE and the data for write, @description transmits and receives the packet with PacketHandler::txRxPacket(), @description gets the error from the packet.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for write

  • length – Length of the data for write

  • data – Data for write

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::txRxPacket()

virtual int write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data) = 0

The function that calls PacketHandler::writeTxOnly() for writing 1 byte data @description The function calls PacketHandler::writeTxOnly() for writing 1 byte data.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for write

  • data – Data for write

Returns:

communication results which come from PacketHandler::writeTxOnly()

virtual int write1ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error = 0) = 0

The function that calls PacketHandler::writeTxRx() for writing 1 byte data and receives the packet @description The function calls PacketHandler::writeTxRx() for writing 1 byte data and receves the packet, @description gets the error from the packet.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for write

  • data – Data for write

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::writeTxRx()

virtual int write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data) = 0

The function that calls PacketHandler::writeTxOnly() for writing 2 byte data @description The function calls PacketHandler::writeTxOnly() for writing 2 byte data.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for write

  • data – Data for write

Returns:

communication results which come from PacketHandler::writeTxOnly()

virtual int write2ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error = 0) = 0

The function that calls PacketHandler::writeTxRx() for writing 2 byte data and receives the packet @description The function calls PacketHandler::writeTxRx() for writing 2 byte data and receves the packet, @description gets the error from the packet.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for write

  • data – Data for write

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::writeTxRx()

virtual int write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data) = 0

The function that calls PacketHandler::writeTxOnly() for writing 4 byte data @description The function calls PacketHandler::writeTxOnly() for writing 4 byte data.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for write

  • data – Data for write

Returns:

communication results which come from PacketHandler::writeTxOnly()

virtual int write4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error = 0) = 0

The function that calls PacketHandler::writeTxRx() for writing 4 byte data and receives the packet @description The function calls PacketHandler::writeTxRx() for writing 4 byte data and receves the packet, @description gets the error from the packet.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for write

  • data – Data for write

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::writeTxRx()

virtual int regWriteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) = 0

The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register @description The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, @description transmits the packet with PacketHandler::txPacket(). @description The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamixel.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for write

  • length – Length of the data for write

  • data – Data for write

Returns:

communication results which come from PacketHandler::txPacket()

virtual int regWriteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0

The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register, and receives the packet @description The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, @description transmits and receives the packet with PacketHandler::txRxPacket(), @description gets the error from the packet. @description The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamixel.

Parameters:

  • port – PortHandler instance

  • id – Dynamixel ID

  • address – Address of the data for write

  • length – Length of the data for write

  • data – Data for write

  • error – Dynamixel hardware error

Returns:

communication results which come from PacketHandler::txRxPacket()

virtual int syncReadTx(PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) = 0

The function that transmits INST_SYNC_READ instruction packet @description The function makes an instruction packet with INST_SYNC_READ, @description transmits the packet with PacketHandler::txPacket().

Parameters:

  • port – PortHandler instance

  • start_address – Address of the data for Sync Read

  • data_length – Length of the data for Sync Read

  • param – Parameter for Sync Read

  • param_length – Length of the data for Sync Read

Returns:

communication results which come from PacketHandler::txPacket()

virtual int syncWriteTxOnly(PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) = 0

The function that transmits INST_SYNC_WRITE instruction packet @description The function makes an instruction packet with INST_SYNC_WRITE, @description transmits the packet with PacketHandler::txRxPacket().

Parameters:

  • port – PortHandler instance

  • start_address – Address of the data for Sync Write

  • data_length – Length of the data for Sync Write

  • param – Parameter for Sync Write

  • param_length – Length of the data for Sync Write

Returns:

communication results which come from PacketHandler::txRxPacket()

virtual int bulkReadTx(PortHandler *port, uint8_t *param, uint16_t param_length) = 0

The function that transmits INST_BULK_READ instruction packet @description The function makes an instruction packet with INST_BULK_READ, @description transmits the packet with PacketHandler::txPacket().

Parameters:

  • port – PortHandler instance

  • param – Parameter for Bulk Read

  • param_length – Length of the data for Bulk Read

Returns:

communication results which come from PacketHandler::txPacket()

virtual int bulkWriteTxOnly(PortHandler *port, uint8_t *param, uint16_t param_length) = 0

The function that transmits INST_BULK_WRITE instruction packet @description The function makes an instruction packet with INST_BULK_WRITE, @description transmits the packet with PacketHandler::txRxPacket().

Parameters:

  • port – PortHandler instance

  • param – Parameter for Bulk Write

  • param_length – Length of the data for Bulk Write

Returns:

communication results which come from PacketHandler::txRxPacket()

Public Static Functions

static PacketHandler *getPacketHandler(float protocol_version = 2.0)

The function that returns PacketHandler instance.

Returns:

PacketHandler instance

Protected Functions

inline PacketHandler()