CDxlGroup.h

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// Dynamixel control code - header file
// Copyright (c) 2008 Erik Schuitema, Eelko van Breda
// Delft University of Technology
// www.dbl.tudelft.nl

#ifndef __DYNAMIXELGROUP_H_INCLUDED__
#define __DYNAMIXELGROUP_H_INCLUDED__

#include "CDxlGeneric.h"
#include "CDxlPacket.hpp"
#include "CDxlConfig.h"
#include <threemxl/platform/io/logging/Log2.h>


// Forward declarations
class CDxlGeneric;
class CDxlConfig;
class CDxlGroupConfig;
class CDxlSyncWritePacket;

class CDxlGroup: public CDxlCom
{
        protected:
                std::string                             mName;                                                          // Unique name of the group. Generated in setSerialPort using the serial port name.
                CDxlGeneric*                    mDynamixels[MAX_NUM_DYNAMIXELS];        // Array of dynamixel pointers
                int                                             mNumDynamixels;
                CDxlSyncWritePacket*    mSyncPacket; //< this is the goup packet that is used for group messages
                int                                             initAll();
                int                                             action();       // Sends the ACTION command with the broadcast ID.
                CLog2                                   mLog;
                bool          mSyncRead;
                CDxlStatusPacket* mStatusPackets[MAX_NUM_DYNAMIXELS];
        public:
                                                CDxlGroup();
                virtual                 ~CDxlGroup();
                CDxlGeneric*    getDynamixel(const int index);
                int                             getNumDynamixels();
                std::string&    getName();
                int                             getStateAll();
                int                             getPosAll();
                int                     getStatusAll();
                int                             getPosAndSpeedAll();
                int                     getPosSpeedTorqueAll();
                int                             getTempAll();   // Request temperature of all dynamixels in this group
                int                             enableTorqueAll(int state);
                int                             setEndlessTurnModeAll(bool enabled);


                int                             sendSyncWritePacket();                  // Sends out a group packet that has been filled with data by the inividual servo's
                int                             writeData(int ID, int startingAddress, int dataLength, BYTE* data); //< servo's can use this function to write data to a group packet in stead of directly to a serial port
                void                    setSyncWriteType(const BYTE instruction=INST_SYNC_WRITE);

                // Read a certain part from the control table of all dynamixels in the group. interpretControlData
                // will be called on each dynamixel afterwards.
                int       syncRead(int startingAddress, int dataLength);

                // Automatic configuration
                int                             setConfig(CDxlGroupConfig *config); //< Loads group configuration class and adds servo to group. Returns 0 on success.

                // Manual configuration
                void                    setName(const std::string& name);
                void                    setSerialPort(LxSerial* serialport);
                int                             addNewDynamixel(CDxlConfig* config); //< Adds servo to group. Returns 0 on success
                int       setupSyncReadChain();

                // Init and deinit. Make sure you set the configuration before calling init!
                virtual bool    init();
                virtual bool    deinit();

};


#endif //__DYNAMIXELGROUP_H_INCLUDED__