Program Listing for File dynamixel_sdk_wrapper.hpp

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// 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_