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master.cpp
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#include "master.h"
using namespace DYNAMIXEL;
Master::Master(DXLPortHandler &port, float protocol_ver, uint16_t malloc_buf_size)
: protocol_ver_idx_(2),
is_buf_malloced_(false), packet_buf_capacity_(0),
last_lib_err_(DXL_LIB_OK)
{
setPort(port);
setPortProtocolVersion(protocol_ver);
if(malloc_buf_size > 0){
p_packet_buf_ = new uint8_t[malloc_buf_size];
if(p_packet_buf_ != nullptr){
packet_buf_capacity_ = malloc_buf_size;
is_buf_malloced_ = true;
}
}
info_tx_packet_.is_init = false;
info_rx_packet_.is_init = false;
}
Master::Master(float protocol_ver, uint16_t malloc_buf_size)
: protocol_ver_idx_(2),
is_buf_malloced_(false), packet_buf_capacity_(0),
last_lib_err_(DXL_LIB_OK)
{
setPortProtocolVersion(protocol_ver);
if(malloc_buf_size > 0){
p_packet_buf_ = new uint8_t[malloc_buf_size];
if(p_packet_buf_ != nullptr){
packet_buf_capacity_ = malloc_buf_size;
is_buf_malloced_ = true;
}
}
info_tx_packet_.is_init = false;
info_rx_packet_.is_init = false;
}
bool
Master::setPacketBuffer(uint8_t* p_buf, uint16_t buf_capacity)
{
if(p_buf == nullptr){
last_lib_err_ = DXL_LIB_ERROR_NULLPTR;
return false;
}
if(packet_buf_capacity_ == 0){
last_lib_err_ = DXL_LIB_ERROR_NOT_ENOUGH_BUFFER_SIZE;
return false;
}
if(is_buf_malloced_ == true){
delete p_packet_buf_;
}
p_packet_buf_ = p_buf;
packet_buf_capacity_ = buf_capacity;
return true;
}
uint8_t*
Master::getPacketBuffer() const
{
return p_packet_buf_;
}
uint16_t
Master::getPacketBufferCapacity() const
{
return packet_buf_capacity_;
}
// Refer to http://emanual.robotis.com/#protocol
bool
Master::setPortProtocolVersion(float version)
{
uint8_t version_idx;
if(version == 2.0){
version_idx = 2;
}else if(version == 1.0){
version_idx = 1;
}else{
last_lib_err_ = DXL_LIB_ERROR_INVAILD_PROTOCOL_VERSION;
return false;
}
return setPortProtocolVersionUsingIndex(version_idx);
}
bool
Master::setPortProtocolVersionUsingIndex(uint8_t version_idx)
{
if(version_idx != 2 && version_idx != 1){
return false;
}
protocol_ver_idx_ = version_idx;
return true;
}
float
Master::getPortProtocolVersion() const
{
return (float)protocol_ver_idx_;
}
bool
Master::setPort(DXLPortHandler *p_port)
{
if(p_port == nullptr){
last_lib_err_ = DXL_LIB_ERROR_NULLPTR;
return false;
}
p_port_ = p_port;
return true;
}
bool
Master::setPort(DXLPortHandler &port)
{
p_port_ = &port;
return true;
}
DXLPortHandler*
Master::getPort() const
{
return p_port_;
}
// (Protocol 1.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol1/#ping
// (Protocol 2.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol2/#ping
uint8_t
Master::ping(uint8_t id, uint8_t *p_recv_id_array, uint8_t recv_array_capacity, uint32_t timeout_ms)
{
uint8_t ret_id_cnt = 0;
uint32_t pre_time_ms;
uint8_t rx_param[3];
// Parameter exception handling
if(p_recv_id_array == nullptr){
last_lib_err_ = DXL_LIB_ERROR_NULLPTR;
return 0;
}else if(recv_array_capacity == 0){
last_lib_err_ = DXL_LIB_ERROR_NOT_ENOUGH_BUFFER_SIZE;
return 0;
}
// Send Ping Instruction
if(txInstPacket(id, DXL_INST_PING, nullptr, 0) == true){
// Receive Status Packet
if(id != DXL_BROADCAST_ID){
if(rxStatusPacket(rx_param, 3, timeout_ms) != nullptr){
if(info_rx_packet_.id == id){
p_recv_id_array[ret_id_cnt++] = info_rx_packet_.id;
}
}
}else{
timeout_ms = 3*253;
pre_time_ms = millis();
while(ret_id_cnt < recv_array_capacity)
{
if(rxStatusPacket(rx_param, 3, 3) != nullptr){
p_recv_id_array[ret_id_cnt++] = info_rx_packet_.id;
}
if (millis()-pre_time_ms >= timeout_ms) {
last_lib_err_ = DXL_LIB_ERROR_TIMEOUT;
break;
}
}
}
}
return ret_id_cnt;
}
uint8_t
Master::ping(uint8_t id, InfoFromPing_t *recv_ping_info_array, uint8_t recv_array_cnt, uint32_t timeout_ms)
{
uint8_t ret_id_cnt = 0;
InfoFromPing_t *p_info = recv_ping_info_array;
uint32_t pre_time_ms;
// Parameter exception handling
if(p_info == nullptr){
last_lib_err_ = DXL_LIB_ERROR_NULLPTR;
return 0;
}else if(recv_array_cnt == 0){
last_lib_err_ = DXL_LIB_ERROR_NOT_ENOUGH_BUFFER_SIZE;
return 0;
}
// Send Ping Instruction
if(txInstPacket(id, DXL_INST_PING, nullptr, 0) == true){
// Receive Status Packet
if(id != DXL_BROADCAST_ID){
if(rxStatusPacket((uint8_t*)&p_info[ret_id_cnt].model_number, 3, timeout_ms) != nullptr){
if(info_rx_packet_.id == id){
p_info[ret_id_cnt++].id = info_rx_packet_.id;
}
}
}else{
timeout_ms = 3*253;
pre_time_ms = millis();
while(ret_id_cnt < recv_array_cnt)
{
if(rxStatusPacket((uint8_t*)&p_info[ret_id_cnt].model_number, 3, 3) != nullptr){
p_info[ret_id_cnt++].id = info_rx_packet_.id;
}
if (millis()-pre_time_ms >= timeout_ms) {
last_lib_err_ = DXL_LIB_ERROR_TIMEOUT;
break;
}
}
}
}
return ret_id_cnt;
}
// (Protocol 1.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol1/#read
// (Protocol 2.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol2/#read
int32_t
Master::read(uint8_t id, uint16_t addr, uint16_t addr_length,
uint8_t *p_recv_buf, uint16_t recv_buf_capacity, uint32_t timeout_ms)
{
int32_t ret_param_len = -1;
DXLLibErrorCode_t err = DXL_LIB_OK;
uint8_t param_len = 0;
uint8_t tx_param[4];
// Parameter exception handling
if(p_recv_buf == nullptr){
err = DXL_LIB_ERROR_NULLPTR;
}else if(addr_length == 0) {
err = DXL_LIB_ERROR_ADDR_LENGTH;
}else if(recv_buf_capacity < addr_length){
err = DXL_LIB_ERROR_NOT_ENOUGH_BUFFER_SIZE;
}else if (id == DXL_BROADCAST_ID) {
err = DXL_LIB_ERROR_NOT_SUPPORT_BROADCAST;
}
if(err != DXL_LIB_OK){
last_lib_err_ = err;
return -1;
}
// Send Read Instruction
if(protocol_ver_idx_ == 2){
tx_param[param_len++] = addr >> 0;
tx_param[param_len++] = addr >> 8;
tx_param[param_len++] = addr_length >> 0;
tx_param[param_len++] = addr_length >> 8;
}else if(protocol_ver_idx_ == 1){
tx_param[param_len++] = (uint8_t)addr&0xFF;
tx_param[param_len++] = (uint8_t)addr_length&0xFF;
}
if(txInstPacket(id, DXL_INST_READ, (uint8_t*)tx_param, param_len) == true){
if(rxStatusPacket(p_recv_buf, recv_buf_capacity, timeout_ms) != nullptr){
ret_param_len = (int32_t)info_rx_packet_.recv_param_len;
}
}
return ret_param_len;
}
// (Protocol 1.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol1/#write
// (Protocol 2.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol2/#write
bool
Master::write(uint8_t id, uint16_t addr,
const uint8_t *p_data, uint16_t data_length, uint32_t timeout_ms)
{
bool ret = false;
// Send Write Instruction
if(writeNoResp(id, addr, p_data, data_length) == true){
// Receive Status Packet
if(id != DXL_BROADCAST_ID){
if(rxStatusPacket(nullptr, 0, timeout_ms) != nullptr){
if(protocol_ver_idx_ == 2){
if(info_rx_packet_.err_idx == 0 || info_rx_packet_.err_idx == 0x80){
ret = true;
}
}else if(protocol_ver_idx_ == 1){
if(info_rx_packet_.err_idx == 0
|| (info_rx_packet_.err_idx & (1<<DXL1_0_ERR_INPUT_VOLTAGE_BIT
| 1<<DXL1_0_ERR_OVERHEATING_BIT
| 1<<DXL1_0_ERR_OVERLOAD_BIT)) != 0){
ret = true;
}
}
}
}else{
ret = true;
}
}
return ret;
}
bool
Master::writeNoResp(uint8_t id, uint16_t addr, const uint8_t *p_data, uint16_t data_length)
{
bool ret = false;
DXLLibErrorCode_t err = DXL_LIB_OK;
uint8_t param_len = 0;
// Parameter exception handling
if(p_data == nullptr || p_port_ == nullptr){
err = DXL_LIB_ERROR_NULLPTR;
}else if(p_port_->getOpenState() != true){
err = DXL_LIB_ERROR_PORT_NOT_OPEN;
}else if(data_length == 0) {
err = DXL_LIB_ERROR_INVAILD_DATA_LENGTH;
}
if(err != DXL_LIB_OK){
last_lib_err_ = err;
return false;
}
// Send Write Instruction
if(protocol_ver_idx_ == 2){
param_len = 2;
}else if(protocol_ver_idx_ == 1){
param_len = 1;
}
begin_make_dxl_packet(&info_tx_packet_, id, protocol_ver_idx_,
DXL_INST_WRITE, 0, p_packet_buf_, packet_buf_capacity_);
add_param_to_dxl_packet(&info_tx_packet_, (uint8_t*)&addr, param_len);
param_len = data_length;
add_param_to_dxl_packet(&info_tx_packet_, (uint8_t*)p_data, param_len);
err = end_make_dxl_packet(&info_tx_packet_);
if(err == DXL_LIB_OK){
p_port_->write(info_tx_packet_.p_packet_buf, info_tx_packet_.generated_packet_length);
ret = true;
}
last_lib_err_ = err;
return ret;
}
// (Protocol 1.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol1/#reg-write
// (Protocol 2.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol2/#reg-write
bool
Master::regWrite(uint8_t id, uint16_t addr,
const uint8_t *p_data, uint16_t data_length, uint32_t timeout_ms)
{
bool ret = false;
DXLLibErrorCode_t err = DXL_LIB_OK;
uint8_t param_len = 0;
// Parameter exception handling
if(p_data == nullptr || p_port_ == nullptr){
err = DXL_LIB_ERROR_NULLPTR;
}else if(p_port_->getOpenState() != true){
err = DXL_LIB_ERROR_PORT_NOT_OPEN;
}else if(data_length == 0) {
err = DXL_LIB_ERROR_INVAILD_DATA_LENGTH;
}
if(err != DXL_LIB_OK){
last_lib_err_ = err;
return false;
}
// Send Write Instruction
if(protocol_ver_idx_ == 2){
param_len = 2;
}else if(protocol_ver_idx_ == 1){
param_len = 1;
}
begin_make_dxl_packet(&info_tx_packet_, id, protocol_ver_idx_,
DXL_INST_REG_WRITE, 0, p_packet_buf_, packet_buf_capacity_);
add_param_to_dxl_packet(&info_tx_packet_, (uint8_t*)&addr, param_len);
param_len = data_length;
add_param_to_dxl_packet(&info_tx_packet_, (uint8_t*)p_data, param_len);
err = end_make_dxl_packet(&info_tx_packet_);
if(err == DXL_LIB_OK){
p_port_->write(info_tx_packet_.p_packet_buf, info_tx_packet_.generated_packet_length);
// Receive Status Packet
if(id != DXL_BROADCAST_ID){
if(rxStatusPacket(nullptr, 0, timeout_ms) != nullptr){
if(protocol_ver_idx_ == 2){
if(info_rx_packet_.err_idx == 0 || info_rx_packet_.err_idx == 0x80){
ret = true;
}
}else if(protocol_ver_idx_ == 1){
if(info_rx_packet_.err_idx == 0
|| (info_rx_packet_.err_idx & (1<<DXL1_0_ERR_INPUT_VOLTAGE_BIT
| 1<<DXL1_0_ERR_OVERHEATING_BIT
| 1<<DXL1_0_ERR_OVERLOAD_BIT)) != 0){
ret = true;
}
}
}
}else{
ret = true;
}
}
last_lib_err_ = err;
return ret;
}
// (Protocol 1.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol1/#action
// (Protocol 2.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol2/#action
bool
Master::action(uint8_t id, uint32_t timeout_ms)
{
bool ret = false;
// Send Reboot Instruction
if(txInstPacket(id, DXL_INST_ACTION, nullptr, 0) == true){
if(id != DXL_BROADCAST_ID){
if(rxStatusPacket(nullptr, 0, timeout_ms) != nullptr){
if(protocol_ver_idx_ == 2){
if(info_rx_packet_.err_idx == 0 || info_rx_packet_.err_idx == 0x80){
ret = true;
}
}else if(protocol_ver_idx_ == 1){
if(info_rx_packet_.err_idx == 0
|| (info_rx_packet_.err_idx & (1<<DXL1_0_ERR_INPUT_VOLTAGE_BIT
| 1<<DXL1_0_ERR_OVERHEATING_BIT
| 1<<DXL1_0_ERR_OVERLOAD_BIT)) != 0){
ret = true;
}
}
}
}else{
ret = true;
}
}
return ret;
}
// (Protocol 1.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol1/#factory-reset
// (Protocol 2.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol2/#factory-reset
bool
Master::factoryReset(uint8_t id, uint8_t option, uint32_t timeout_ms)
{
bool ret = false;
uint8_t param_len = 0;
// Send FactoryReset Instruction
if(protocol_ver_idx_ == 2){
param_len = 1;
}
if(txInstPacket(id, DXL_INST_FACTORY_RESET, (uint8_t*)&option, param_len) == true){
if(id != DXL_BROADCAST_ID){
if(rxStatusPacket(nullptr, 0, timeout_ms) != nullptr){
if(protocol_ver_idx_ == 2){
if(info_rx_packet_.err_idx == 0 || info_rx_packet_.err_idx == 0x80){
ret = true;
}
}else if(protocol_ver_idx_ == 1){
if(info_rx_packet_.err_idx == 0
|| (info_rx_packet_.err_idx & (1<<DXL1_0_ERR_INPUT_VOLTAGE_BIT
| 1<<DXL1_0_ERR_OVERHEATING_BIT
| 1<<DXL1_0_ERR_OVERLOAD_BIT)) != 0){
ret = true;
}
}
}
}else{
ret = true;
}
}
return ret;
}
// (Protocol 1.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol1/#reboot
// (Protocol 2.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol2/#reboot
bool
Master::reboot(uint8_t id, uint32_t timeout_ms)
{
bool ret = false;
// Send Reboot Instruction
if(txInstPacket(id, DXL_INST_REBOOT, nullptr, 0) == true){
if(id != DXL_BROADCAST_ID){
if(rxStatusPacket(nullptr, 0, timeout_ms) != nullptr){
if(protocol_ver_idx_ == 2){
if(info_rx_packet_.err_idx == 0 || info_rx_packet_.err_idx == 0x80){
ret = true;
}
}else if(protocol_ver_idx_ == 1){
if(info_rx_packet_.err_idx == 0
|| (info_rx_packet_.err_idx & (1<<DXL1_0_ERR_INPUT_VOLTAGE_BIT
| 1<<DXL1_0_ERR_OVERHEATING_BIT
| 1<<DXL1_0_ERR_OVERLOAD_BIT)) != 0){
ret = true;
}
}
}
}else{
ret = true;
}
}
return ret;
}
// (Protocol 1.0) Not Supported
// (Protocol 2.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol2/#clear
bool
Master::clear(uint8_t id, uint8_t option, uint32_t ex_option, uint32_t timeout_ms)
{
bool ret = false;
uint8_t tx_param[5];
// Parameter exception handling
if(protocol_ver_idx_ != 2){
last_lib_err_ = DXL_LIB_ERROR_NOT_SUPPORTED;
return false;
}
// http://emanual.robotis.com/docs/en/dxl/protocol2/#clear
tx_param[0] = option;
if(option == 0x01){
tx_param[1] = 0x44;
tx_param[2] = 0x58;
tx_param[3] = 0x4C;
tx_param[4] = 0x22;
}else{
memcpy(&tx_param[1], &ex_option, 4);
}
// Send Reboot Instruction
if(txInstPacket(id, DXL_INST_CLEAR, tx_param, 5) == true){
if(id != DXL_BROADCAST_ID){
if(rxStatusPacket(nullptr, 0, timeout_ms) != nullptr){
if(protocol_ver_idx_ == 2){
if(info_rx_packet_.err_idx == 0 || info_rx_packet_.err_idx == 0x80){
ret = true;
}
}
}
}else{
ret = true;
}
}
return ret;
}
// (Protocol 1.0) Not Supported
// (Protocol 2.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol2/#sync-read
uint8_t
Master::syncRead(InfoSyncReadInst_t* p_info, uint32_t timeout_ms)
{
uint8_t i, recv_cnt = 0;
DXLLibErrorCode_t err = DXL_LIB_OK;
uint8_t tx_param[4], param_len = 0;
uint8_t* p_packet_buf = nullptr;
uint16_t packet_buf_cap;
XELInfoSyncRead_t* p_xel;
// Parameter exception handling
if(p_port_ == nullptr){
err = DXL_LIB_ERROR_NULLPTR;
}else if(p_port_->getOpenState() != true){
err = DXL_LIB_ERROR_PORT_NOT_OPEN;
}else if(protocol_ver_idx_ != 2){
err = DXL_LIB_ERROR_NOT_SUPPORTED;
}
if(err != DXL_LIB_OK){
last_lib_err_ = err;
return 0;
}
if(p_info->packet.p_buf != nullptr){
p_packet_buf = p_info->packet.p_buf;
packet_buf_cap = p_info->packet.buf_capacity;
}else{
p_packet_buf = p_packet_buf_;
packet_buf_cap = packet_buf_capacity_;
}
if(p_info->packet.p_buf == nullptr && info_tx_packet_.inst_idx != DXL_INST_SYNC_READ){
p_info->packet.is_completed = false;
}
if(p_info->packet.is_completed == false || p_info->is_info_changed == true){
err = begin_make_dxl_packet(&info_tx_packet_, DXL_BROADCAST_ID, protocol_ver_idx_,
DXL_INST_SYNC_READ, 0, p_packet_buf, packet_buf_cap);
if(err == DXL_LIB_OK){
tx_param[param_len++] = p_info->addr >> 0;
tx_param[param_len++] = p_info->addr >> 8;
tx_param[param_len++] = p_info->addr_length >> 0;
tx_param[param_len++] = p_info->addr_length >> 8;
err = add_param_to_dxl_packet(&info_tx_packet_, tx_param, param_len);
if(err == DXL_LIB_OK){
for(i=0; i<p_info->xel_count; i++){
p_xel = &p_info->p_xels[i];
err = add_param_to_dxl_packet(&info_tx_packet_, &p_xel->id, 1);
if(err != DXL_LIB_OK){
break;
}
}
if(err == DXL_LIB_OK){
err = end_make_dxl_packet(&info_tx_packet_);
if(err == DXL_LIB_OK){
p_info->packet.gen_length = info_tx_packet_.generated_packet_length;
p_info->packet.is_completed = true;
p_info->is_info_changed = false;
}
}
}
}
}
if(err == DXL_LIB_OK){
p_port_->write(p_packet_buf, p_info->packet.gen_length);
for(i=0; i<p_info->xel_count; i++)
{
p_xel = &p_info->p_xels[i];
if(rxStatusPacket(p_xel->p_recv_buf, p_info->addr_length, timeout_ms) != nullptr){
if(info_rx_packet_.id == p_xel->id){
p_xel->error = info_rx_packet_.err_idx;
recv_cnt++;
}else{
break;
}
}else{
break;
}
}
}else{
p_info->packet.is_completed = false;
}
last_lib_err_ = err;
return recv_cnt;
}
// (Protocol 1.0) Not Supported
// (Protocol 2.0) Refer to https://emanual.robotis.com/docs/en/dxl/protocol2/#fast-sync-read-0x8a
uint8_t Master::fastSyncRead(InfoSyncReadInst_t* p_info, uint32_t timeout_ms)
{
uint8_t recv_cnt = 0;
DXLLibErrorCode_t err = DXL_LIB_OK;
uint8_t tx_param[4], param_len = 0;
uint8_t* p_packet_buf = nullptr;
uint16_t packet_buf_cap;
XELInfoSyncRead_t* p_xel;
// Parameter exception handling
if (p_port_ == nullptr)
err = DXL_LIB_ERROR_NULLPTR;
else if (p_port_->getOpenState() != true)
err = DXL_LIB_ERROR_PORT_NOT_OPEN;
else if (protocol_ver_idx_ != 2)
err = DXL_LIB_ERROR_NOT_SUPPORTED;
if (err != DXL_LIB_OK) {
last_lib_err_ = err;
return 0;
}
if (p_info->packet.p_buf != nullptr) {
p_packet_buf = p_info->packet.p_buf;
packet_buf_cap = p_info->packet.buf_capacity;
} else {
p_packet_buf = p_packet_buf_;
packet_buf_cap = packet_buf_capacity_;
}
if ((p_info->packet.p_buf == nullptr) && (info_tx_packet_.inst_idx != DXL_INST_FAST_SYNC_READ))
p_info->packet.is_completed = false;
if ((p_info->packet.is_completed == false) || (p_info->is_info_changed == true)) {
err = begin_make_dxl_packet(&info_tx_packet_, DXL_BROADCAST_ID, protocol_ver_idx_, DXL_INST_FAST_SYNC_READ, 0, p_packet_buf, packet_buf_cap);
if (err == DXL_LIB_OK) {
tx_param[param_len++] = p_info->addr >> 0;
tx_param[param_len++] = p_info->addr >> 8;
tx_param[param_len++] = p_info->addr_length >> 0;
tx_param[param_len++] = p_info->addr_length >> 8;
err = add_param_to_dxl_packet(&info_tx_packet_, tx_param, param_len);
if (err == DXL_LIB_OK) {
for(uint8_t i = 0; i < p_info->xel_count; i++) {
p_xel = &p_info->p_xels[i];
err = add_param_to_dxl_packet(&info_tx_packet_, &p_xel->id, 1);
if (err != DXL_LIB_OK)
break;
}
if (err == DXL_LIB_OK) {
err = end_make_dxl_packet(&info_tx_packet_);
if (err == DXL_LIB_OK) {
p_info->packet.gen_length = info_tx_packet_.generated_packet_length;
p_info->packet.is_completed = true;
p_info->is_info_changed = false;
}
}
}
}
}
if (err == DXL_LIB_OK) {
p_port_->write(p_packet_buf, p_info->packet.gen_length);
if (fastRxStatusPacket(p_info, nullptr, timeout_ms) != nullptr)
recv_cnt = p_info->xel_count;
} else {
p_info->packet.is_completed = false;
}
return recv_cnt;
}
// (Protocol 1.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol1/#sync-write
// (Protocol 2.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol2/#sync-write
bool
Master::syncWrite(InfoSyncWriteInst_t* p_info)
{
bool ret = false;
DXLLibErrorCode_t err = DXL_LIB_OK;
uint8_t i, tx_param[4], param_len = 0;
uint8_t* p_packet_buf = nullptr;
uint16_t packet_buf_cap;
XELInfoSyncWrite_t* p_xel;
// Parameter exception handling
if(p_port_ == nullptr){
err = DXL_LIB_ERROR_NULLPTR;
}else if(p_port_->getOpenState() != true){
err = DXL_LIB_ERROR_PORT_NOT_OPEN;
}else if(protocol_ver_idx_ != 2 && protocol_ver_idx_ != 1){
err = DXL_LIB_ERROR_NOT_SUPPORTED;
}
if(err != DXL_LIB_OK){
last_lib_err_ = err;
return false;
}
if(p_info->packet.p_buf != nullptr){
p_packet_buf = p_info->packet.p_buf;
packet_buf_cap = p_info->packet.buf_capacity;
}else{
p_packet_buf = p_packet_buf_;
packet_buf_cap = packet_buf_capacity_;
}
if(p_info->packet.p_buf == nullptr && info_tx_packet_.inst_idx != DXL_INST_SYNC_WRITE){
p_info->packet.is_completed = false;
}
if(p_info->packet.is_completed == false || p_info->is_info_changed == true){
err = begin_make_dxl_packet(&info_tx_packet_, DXL_BROADCAST_ID, protocol_ver_idx_,
DXL_INST_SYNC_WRITE, 0, p_packet_buf, packet_buf_cap);
if(err == DXL_LIB_OK){
if(protocol_ver_idx_ == 2){
tx_param[param_len++] = p_info->addr >> 0;
tx_param[param_len++] = p_info->addr >> 8;
tx_param[param_len++] = p_info->addr_length >> 0;
tx_param[param_len++] = p_info->addr_length >> 8;
}else if(protocol_ver_idx_ == 1){
tx_param[param_len++] = p_info->addr & 0xFF;
tx_param[param_len++] = p_info->addr_length & 0xFF;
}
err = add_param_to_dxl_packet(&info_tx_packet_, tx_param, param_len);
if(err == DXL_LIB_OK){
for(i=0; i<p_info->xel_count; i++){
p_xel = &p_info->p_xels[i];
err = add_param_to_dxl_packet(&info_tx_packet_, &p_xel->id, 1);
if(err == DXL_LIB_OK){
err = add_param_to_dxl_packet(&info_tx_packet_, p_xel->p_data, p_info->addr_length);
if(err != DXL_LIB_OK){
break;
}
}else{
break;
}
}
if(err == DXL_LIB_OK){
err = end_make_dxl_packet(&info_tx_packet_);
if(err == DXL_LIB_OK){
p_info->packet.gen_length = info_tx_packet_.generated_packet_length;
p_info->packet.is_completed = true;
p_info->is_info_changed = false;
}
}
}
}
}
if(err == DXL_LIB_OK){
p_port_->write(p_packet_buf, p_info->packet.gen_length);
ret = true;
}else{
p_info->packet.is_completed = false;
}
last_lib_err_ = err;
return ret;
}
// (Protocol 1.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol1/#bulk-read
// (Protocol 2.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol2/#bulk-read
uint8_t
Master::bulkRead(InfoBulkReadInst_t* p_info, uint32_t timeout_ms)
{
uint8_t i, recv_cnt = 0;
DXLLibErrorCode_t err = DXL_LIB_OK;
uint8_t tx_param[5], param_len = 0;
uint8_t* p_packet_buf = nullptr;
uint16_t packet_buf_cap;
XELInfoBulkRead_t* p_xel;
// Parameter exception handling
if(p_port_ == nullptr){
err = DXL_LIB_ERROR_NULLPTR;
}else if(p_port_->getOpenState() != true){
err = DXL_LIB_ERROR_PORT_NOT_OPEN;
}else if(protocol_ver_idx_ != 2 && protocol_ver_idx_ != 1){
err = DXL_LIB_ERROR_NOT_SUPPORTED;
}
if(err != DXL_LIB_OK){
last_lib_err_ = err;
return 0;
}
if(p_info->packet.p_buf != nullptr){
p_packet_buf = p_info->packet.p_buf;
packet_buf_cap = p_info->packet.buf_capacity;
}else{
p_packet_buf = p_packet_buf_;
packet_buf_cap = packet_buf_capacity_;
}
if(p_info->packet.p_buf == nullptr && info_tx_packet_.inst_idx != DXL_INST_BULK_READ){
p_info->packet.is_completed = false;
}
if(p_info->packet.is_completed == false || p_info->is_info_changed == true){
err = begin_make_dxl_packet(&info_tx_packet_, DXL_BROADCAST_ID, protocol_ver_idx_,
DXL_INST_BULK_READ, 0, p_packet_buf, packet_buf_cap);
if(protocol_ver_idx_ == 1 && err == DXL_LIB_OK){
tx_param[0] = 0x00;
err = add_param_to_dxl_packet(&info_tx_packet_, (uint8_t*)tx_param, 1);
}
if(err == DXL_LIB_OK){
for(i=0; i<p_info->xel_count; i++){
p_xel = &p_info->p_xels[i];
param_len = 0;
if(protocol_ver_idx_ == 2){
tx_param[param_len++] = p_xel->id;
tx_param[param_len++] = p_xel->addr >> 0;
tx_param[param_len++] = p_xel->addr >> 8;
tx_param[param_len++] = p_xel->addr_length >> 0;
tx_param[param_len++] = p_xel->addr_length >> 8;
}else if(protocol_ver_idx_ == 1){
tx_param[param_len++] = p_xel->id;
tx_param[param_len++] = p_xel->addr & 0xFF;
tx_param[param_len++] = p_xel->addr_length & 0xFF;
}
err = add_param_to_dxl_packet(&info_tx_packet_, tx_param, param_len);
if(err != DXL_LIB_OK){
break;
}
}
if(err == DXL_LIB_OK){
err = end_make_dxl_packet(&info_tx_packet_);
if(err == DXL_LIB_OK){
p_info->packet.gen_length = info_tx_packet_.generated_packet_length;
p_info->packet.is_completed = true;
p_info->is_info_changed = false;
}
}
}
}
if(err == DXL_LIB_OK){
p_port_->write(p_packet_buf, p_info->packet.gen_length);
for(i=0; i<p_info->xel_count; i++)
{
p_xel = &p_info->p_xels[i];
if(rxStatusPacket(p_xel->p_recv_buf, p_xel->addr_length, timeout_ms) != nullptr){
if(info_rx_packet_.id == p_xel->id){
p_xel->error = info_rx_packet_.err_idx;
recv_cnt++;
}else{
break;
}
}else{
break;
}
}
}else{
p_info->packet.is_completed = false;
}
last_lib_err_ = err;
return recv_cnt;
}
// (Protocol 1.0) Not Supported
// (Protocol 2.0) Refer to https://emanual.robotis.com/docs/en/dxl/protocol2/#fast-bulk-read-0x9a
uint8_t Master::fastBulkRead(InfoBulkReadInst_t* p_info, uint32_t timeout_ms)
{
uint8_t i, recv_cnt = 0;
DXLLibErrorCode_t err = DXL_LIB_OK;
uint8_t tx_param[5], param_len = 0;
uint8_t* p_packet_buf = nullptr;
uint16_t packet_buf_cap;
XELInfoBulkRead_t* p_xel;
// Parameter exception handling
if (p_port_ == nullptr)
err = DXL_LIB_ERROR_NULLPTR;
else if (p_port_->getOpenState() != true)
err = DXL_LIB_ERROR_PORT_NOT_OPEN;
else if (protocol_ver_idx_ != 2)
err = DXL_LIB_ERROR_NOT_SUPPORTED;
if (err != DXL_LIB_OK) {
last_lib_err_ = err;
return 0;
}
if (p_info->packet.p_buf != nullptr) {
p_packet_buf = p_info->packet.p_buf;
packet_buf_cap = p_info->packet.buf_capacity;
} else {
p_packet_buf = p_packet_buf_;
packet_buf_cap = packet_buf_capacity_;
}
if ((p_info->packet.p_buf == nullptr) && (info_tx_packet_.inst_idx != DXL_INST_FAST_BULK_READ))
p_info->packet.is_completed = false;
if ((p_info->packet.is_completed == false) || (p_info->is_info_changed == true)) {
err = begin_make_dxl_packet(&info_tx_packet_, DXL_BROADCAST_ID, protocol_ver_idx_,
DXL_INST_FAST_BULK_READ, 0, p_packet_buf, packet_buf_cap);
if (err == DXL_LIB_OK) {
for (i = 0; i < p_info->xel_count; i++) {
p_xel = &p_info->p_xels[i];
param_len = 0;
tx_param[param_len++] = p_xel->id;
tx_param[param_len++] = p_xel->addr >> 0;
tx_param[param_len++] = p_xel->addr >> 8;
tx_param[param_len++] = p_xel->addr_length >> 0;
tx_param[param_len++] = p_xel->addr_length >> 8;
err = add_param_to_dxl_packet(&info_tx_packet_, tx_param, param_len);
if (err != DXL_LIB_OK)
break;
}
if (err == DXL_LIB_OK) {
err = end_make_dxl_packet(&info_tx_packet_);
if (err == DXL_LIB_OK) {
p_info->packet.gen_length = info_tx_packet_.generated_packet_length;
p_info->packet.is_completed = true;
p_info->is_info_changed = false;
}
}
}
}
if (err == DXL_LIB_OK) {
p_port_->write(p_packet_buf, p_info->packet.gen_length);
if (fastRxStatusPacket(nullptr, p_info, timeout_ms) != nullptr)
recv_cnt = p_info->xel_count;
} else {
p_info->packet.is_completed = false;
}