.. _program_listing_file__tmp_ws_src_turtlebot3_manipulation_turtlebot3_manipulation_hardware_include_turtlebot3_manipulation_hardware_dynamixel_sdk_wrapper.hpp:

Program Listing for File dynamixel_sdk_wrapper.hpp
==================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_turtlebot3_manipulation_turtlebot3_manipulation_hardware_include_turtlebot3_manipulation_hardware_dynamixel_sdk_wrapper.hpp>` (``/tmp/ws/src/turtlebot3_manipulation/turtlebot3_manipulation_hardware/include/turtlebot3_manipulation_hardware/dynamixel_sdk_wrapper.hpp``)

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

.. code-block:: cpp

   // Copyright 2022 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.
   //
   // Author: Darby Lim
   
   #ifndef TURTLEBOT3_MANIPULATION_HARDWARE__DYNAMIXEL_SDK_WRAPPER_HPP_
   #define TURTLEBOT3_MANIPULATION_HARDWARE__DYNAMIXEL_SDK_WRAPPER_HPP_
   
   #include <stdlib.h>
   #include <mutex>
   #include <string>
   
   #include "dynamixel_sdk/dynamixel_sdk.h"
   
   namespace robotis
   {
   namespace turtlebot3_manipulation_hardware
   {
   class DynamixelSDKWrapper
   {
   public:
     explicit DynamixelSDKWrapper(const uint8_t & id);
     virtual ~DynamixelSDKWrapper();
   
     bool open_port(const std::string & usb_port);
     bool set_baud_rate(const uint32_t & baud_rate);
   
     uint16_t ping();
   
     bool read(
       const uint16_t & address,
       const uint16_t & length,
       uint8_t * data);
   
     uint8_t read_byte(const uint16_t & address);
   
     bool write(
       const uint16_t & address,
       const uint16_t & length,
       uint8_t * data);
   
     void write_byte(const uint16_t & address, uint8_t data);
   
   private:
     dynamixel::PortHandler * port_handler_;
     dynamixel::PacketHandler * packet_handler_;
   
     std::mutex sdk_handler_m_;
   
     uint8_t id_;
   };
   }  // namespace turtlebot3_manipulation_hardware
   }  // namespace robotis
   #endif  //  TURTLEBOT3_MANIPULATION_HARDWARE__DYNAMIXEL_SDK_WRAPPER_HPP_