DynaLibInternal.h File Reference

The libDynamixel internal declarations. More...

#include <errno.h>
#include "rnr/rnrconfig.h"
#include "rnr/new.h"
#include "rnr/log.h"
#include "Dynamixel/Dynamixel.h"
#include "Dynamixel/DynaError.h"

Go to the source code of this file.

Macros
#define	DYNA_LOG_ERROR(ecode, efmt, ...)
	Log Error. More...
#define	DYNA_LOG_SYS_ERROR(ecode, efmt, ...)
	Log System Error. More...
#define	DYNA_LOG_COMM_ERROR(estat, efmt, ...)
	Log Error. More...
#define	DYNA_LOG_BUF(sPreface, buf, uCount, sFmt)
	Log buffer of infrared readings. More...
#define	DYNA_LOG_SERVO_ALARMS(id, alarms)
	Log servo alarms. More...
#define	DYNA_TRY_RC(rc, fmt, ...)
	Test if Dynamixel return code is not an error. More...
#define	DYNA_TRY_COMM(comm)
	Test if bus communication is available exception macro. More...
#define	DYNA_TRY_SERVO_ID(id)
	Testing if the servo id is in range exception macro. More...
#define	DYNA_TRY_IS_MASTER(pservo)
	Test if the servo is a master servo. More...
#define	DYNA_TRY_IS_UNLINKED(pservo)
	Test if the servo is unlinked. More...
#define	DYNA_TRY_SERVO_HAS_MODE(pservo, mode)
	Test if the servo has one of the required modes exception macro. More...
#define	DYNA_TRY_SERVO_IN_MODE(pservo, mode)
	Test if the servo is in the given mode. More...
#define	DYNA_TRY_SERVO_HAS_POS_CTL(pservo)
	Test if the servo has positiion control. More...
#define	DYNA_TRY_SERVO_HAS_AGENT(pservo)
	Test if the servo has a proxy agent. More...
#define	DYNA_TRY_ADDR(addr)
	Test if servo address is valid. More...
#define	DYNA_TRY_SERVO_IN_CHAIN(pchain, id)
	Test if the servo id is valid and present in chain exception macro. More...
#define	DYNA_TRY_EXPR(expr, ecode, efmt, ...)
	Test if the servo is in the required mode(s) exception macro. More...

Functions
char *	newstr (const char *s)
	Allocate new duplicated string. More...
int	DynaMapDxlToEcode (int nDxlError)
	Map DXL library error code to Dynamixel error code. More...

Detailed Description

The libDynamixel internal declarations.

LastChangedDate

2015-03-13 13:28:02 -0600 (Fri, 13 Mar 2015)

Rev

3890

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2011-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file DynaLibInternal.h.

Macro Definition Documentation

#define DYNA_LOG_BUF	(		sPreface,
			buf,
			uCount,
			sFmt
	)

Value:

do \
  { \
    if( LOGABLE(LOG_LEVEL_DIAG3) ) \
    { \
      DynaLogBuf(sPreface, buf, uCount, sFmt); \
    } \
  } while(0)

Log buffer of infrared readings.

Parameters

sPreface	Preface string.
buf	Buffer contents to log.
uCount	Number of entries to log.
sFmt	Buffer entry format string.

Definition at line 112 of file DynaLibInternal.h.

#define DYNA_LOG_COMM_ERROR	(		estat,
			efmt,
			...
	)

Value:

LOGERROR("%s(ecode=%d): %s(%d): " efmt, \
      DynaStrError(DYNA_ECODE_ECOMM), DYNA_ECODE_ECOMM, \
      dynaCommStatString(estat), estat, \
      ##__VA_ARGS__)

Log Error.

Parameters

estat	Errored communication status code.
efmt	Error output format string literal.
...	Error variable arguments.

Definition at line 97 of file DynaLibInternal.h.

#define DYNA_LOG_ERROR	(		ecode,
			efmt,
			...
	)

Value:

LOGERROR("%s(ecode=%d): " efmt, \
      DynaStrError(ecode), (ecode>=0? ecode: -ecode), \
      ##__VA_ARGS__)

Log Error.

Parameters

ecode	Package Error Codes error code.
efmt	Error output format string literal.
...	Error variable arguments.

Definition at line 73 of file DynaLibInternal.h.

Referenced by DynaChain::AddNewServo(), DynaChain::ChainEntryNew(), DynaServoGeneric::InitState(), DynaChain::LinkServos(), DynaServo::New(), DynaComm::New(), DynaCommSerial::Open(), DynaCommBotSense::Open(), DynaBgThread::Pause(), DynaCommBotSense::Ping(), DynaCommSerial::Read16(), DynaCommBotSense::Read16(), DynaCommSerial::Read8(), DynaCommBotSense::Read8(), DynaServo::ReadBaudRate(), DynaServoGeneric::ReadControlMethod(), DynaCommSerial::Reset(), DynaCommBotSense::Reset(), DynaBgThread::Resume(), DynaBgThread::Run(), DynaCommSerial::SetBaudRate(), DynaBgThread::Stop(), DynaCommSerial::SyncWrite(), DynaCommBotSense::SyncWrite(), DynaCommSerial::Write16(), DynaCommBotSense::Write16(), DynaCommSerial::Write8(), DynaCommBotSense::Write8(), DynaServo::WriteBaudRate(), and DynaServoGeneric::WriteControlMethod().

#define DYNA_LOG_SERVO_ALARMS	(		id,
			alarms
	)

Value:

do \
  { \
    if( LOGABLE(LOG_LEVEL_DIAG3) && ((alarms) != DYNA_ALARM_NONE) ) \
    { \
      DynaLogServoAlarms(id, alarms); \
    } \
  } while(0)

Log servo alarms.

Parameters

id	Servo id.
alarms	Alarm bits fields.

Definition at line 131 of file DynaLibInternal.h.

Referenced by DynaCommSerial::Read16(), DynaCommSerial::Read8(), DynaCommSerial::Reset(), DynaServoGeneric::SyncState(), DynaCommSerial::Write16(), and DynaCommSerial::Write8().

#define DYNA_LOG_SYS_ERROR	(		ecode,
			efmt,
			...
	)

Value:

LOGSYSERROR("%s(ecode=%d): " efmt, \
      DynaStrError(ecode), (ecode>=0? ecode: -ecode), \
      ##__VA_ARGS__)

Log System Error.

Parameters

ecode	Package Error Codes error code.
efmt	Error output format string literal.
...	Error variable arguments.

Definition at line 85 of file DynaLibInternal.h.

Referenced by DynaCommSerial::SetBaudRate().

#define DYNA_TRY_ADDR

(

addr

)

Value:

do \
  { \
    if( !(  (((int)(addr) >= DYNA_EEPROM_MIN_ADDR) && \
             ((int)(addr) <= DYNA_EEPROM_MAX_ADDR)) || \
            (((int)(addr) >= DYNA_RAM_MIN_ADDR) && \
             ((int)(addr) <= DYNA_RAM_MAX_ADDR)) ) ) \
    { \
      DYNA_LOG_ERROR(DYNA_ECODE_BAD_VAL, \
          "Control table address 0x%02x: Out of range.", (int)(addr)); \
      return -DYNA_ECODE_BAD_VAL; \
    } \
  } while(0)

Test if servo address is valid.

If the try fails, an appropriate error is logged and the calling function is immediately exited by invoking a return with the < 0 error code.

Parameters

[in]

addr

Servo control table address.

Definition at line 349 of file DynaLibInternal.h.

Referenced by DynaServoEX106P::Read(), DynaServoGeneric::Read(), DynaServoEX106P::Write(), and DynaServoGeneric::Write().

#define DYNA_TRY_COMM

(

comm

)

Value:

do \
  { \
    if( !(comm).IsOpen() ) \
    { \
      DYNA_LOG_ERROR(DYNA_ECODE_BADF, "Communication not open."); \
      return -DYNA_ECODE_BADF; \
    } \
  } while(0)

Test if bus communication is available exception macro.

If the try fails, an appropriate error is logged and the calling function is immediately exited by invoking a return with the < 0 error code.

Parameters

[in]

comm

Dynamixel bus communication object.

Definition at line 171 of file DynaLibInternal.h.

Referenced by DynaChain::AddNewServo(), DynaChain::AddNewServosByScan(), DynaServoGeneric::AgentWriteGoalPos(), DynaServoGeneric::AgentWriteGoalSpeed(), DynaServoGeneric::AgentWriteGoalSpeedPos(), DynaServoGeneric::CfgReadAlarmShutdownMask(), DynaServoEX106P::CfgReadDriveMode(), DynaServoGeneric::CfgReadMaxTorqueLimit(), DynaServoGeneric::CfgReadRotationLimits(), DynaServoGeneric::CfgReadServoMode(), DynaServoGeneric::CfgReadTemperatureLimit(), DynaServoGeneric::CfgReadVoltageLimits(), DynaServoGeneric::CfgWriteAlarmShutdownMask(), DynaServoEX106P::CfgWriteDriveMode(), DynaServoGeneric::CfgWriteMaxTorqueLimit(), DynaServoGeneric::CfgWriteRotationLimits(), DynaServoGeneric::CfgWriteServoMode(), DynaServoGeneric::CfgWriteServoModeContinuous(), DynaServoGeneric::CfgWriteTemperatureLimit(), DynaServoGeneric::CfgWriteVoltageLimits(), DynaChain::ChainEntryNew(), DynaServoGeneric::EStop(), DynaChain::EStop(), DynaServoGeneric::Freeze(), DynaChain::Freeze(), DynaServoGeneric::MoveAtSpeed(), DynaChain::MoveAtSpeed(), DynaServoGeneric::MoveAtSpeedTo(), DynaChain::MoveAtSpeedTo(), DynaServoGeneric::MoveTo(), DynaChain::MoveTo(), DynaCommSerial::Ping(), DynaCommBotSense::Ping(), DynaServo::Ping(), DynaServoGeneric::Ping(), DynaServoEX106P::Read(), DynaServoGeneric::Read(), DynaCommSerial::Read16(), DynaCommBotSense::Read16(), DynaCommSerial::Read8(), DynaCommBotSense::Read8(), DynaServo::ReadBaudRate(), DynaServoGeneric::ReadControlMethod(), DynaServoGeneric::ReadCurLoad(), DynaServoGeneric::ReadCurPos(), DynaServoGeneric::ReadCurSpeed(), DynaServoGeneric::ReadDynamics(), DynaServo::ReadFirmwareVersion(), DynaServoGeneric::ReadGoalPos(), DynaServoGeneric::ReadGoalSpeed(), DynaServoGeneric::ReadHealth(), DynaServoGeneric::ReadIsMoving(), DynaServoGeneric::ReadLed(), DynaServoGeneric::ReadMaxTorqueLimit(), DynaServo::ReadModelNumber(), DynaServoEX106P::ReadSensedCurrent(), DynaServo::ReadServoId(), DynaServoGeneric::ReadTorqueEnable(), DynaServoGeneric::Release(), DynaChain::Release(), DynaServoGeneric::ReloadMaxTorqueLimit(), DynaCommSerial::Reset(), DynaCommBotSense::Reset(), DynaServo::Reset(), DynaServoGeneric::Reset(), DynaServoGeneric::Stop(), DynaChain::Stop(), DynaServoEX106P::SyncCfg(), DynaServoGeneric::SyncCfg(), DynaChain::SyncMoveAtSpeed(), DynaChain::SyncMoveAtSpeedTo(), DynaChain::SyncMoveTo(), DynaServoEX106P::SyncState(), DynaServoGeneric::SyncState(), DynaCommSerial::SyncWrite(), DynaCommBotSense::SyncWrite(), DynaChain::SyncWriteGoalPos(), DynaChain::SyncWriteGoalSpeed(), DynaChain::SyncWriteTorqueEnable(), DynaChain::vSyncMoveAtSpeed(), DynaChain::vSyncMoveAtSpeedTo(), DynaChain::vSyncWriteGoalPos(), DynaChain::vSyncWriteGoalSpeed(), DynaServoEX106P::Write(), DynaServoGeneric::Write(), DynaCommSerial::Write16(), DynaCommBotSense::Write16(), DynaCommSerial::Write8(), DynaCommBotSense::Write8(), DynaServo::WriteBaudRate(), DynaServoGeneric::WriteControlMethod(), DynaServoGeneric::WriteCtlMethodCompliance(), DynaServoGeneric::WriteCtlMethodPid(), DynaServoGeneric::WriteGoalPos(), DynaServoGeneric::WriteGoalSpeed(), DynaServoGeneric::WriteLed(), DynaServoGeneric::WriteMaxTorqueLimit(), DynaServo::WriteServoId(), and DynaServoGeneric::WriteTorqueEnable().

#define DYNA_TRY_EXPR	(		expr,
			ecode,
			efmt,
			...
	)

Value:

do \
{ \
  if ( !(expr) ) \
  { \
    DYNA_LOG_ERROR(ecode, "%s: " efmt, #expr, ##__VA_ARGS__); \
    return (ecode > 0) ? -(ecode) : ecode; \
  } \
} while(0)

Test if the servo is in the required mode(s) exception macro.

If the check is false, an appropriate error is logged and the calling function immediately returns with the appropriate < 0 error code.

Parameters

expr	Expression to evaluate
ecode	CogniBoost error code.
efmt	Error output format string literal.
...	Variable arguments.

Definition at line 401 of file DynaLibInternal.h.

Referenced by DynaServoGeneric::AgentWriteGoalSpeed(), DynaServoGeneric::AgentWriteGoalSpeedPos(), DynaServoGeneric::CalcMatesGoalPos(), DynaServoEX106P::CfgWriteDriveMode(), DynaServoGeneric::CfgWriteMaxTorqueLimit(), DynaServoGeneric::CfgWriteRotationLimits(), DynaServoGeneric::CfgWriteTemperatureLimit(), DynaServoGeneric::CfgWriteVoltageLimits(), DynaChain::LinkServos(), DynaChain::SyncWriteGoalPos(), DynaChain::SyncWriteGoalSpeed(), DynaChain::UnlinkServos(), DynaServoGeneric::WriteCtlMethodCompliance(), DynaServoGeneric::WriteCtlMethodPid(), DynaServoGeneric::WriteGoalPos(), DynaServoGeneric::WriteGoalSpeed(), and DynaServoGeneric::WriteMaxTorqueLimit().

#define DYNA_TRY_IS_MASTER

(

pservo

)

Value:

do \
  { \
    if( !((pservo)->IsMaster()) ) \
    { \
      DYNA_LOG_ERROR(DYNA_ECODE_SLAVE, \
          "Servo %d: Not a master servo.", \
          (pservo)->m_nServoId); \
      return -DYNA_ECODE_SLAVE; \
    } \
  } while(0)

Test if the servo is a master servo.

If the try fails, an appropriate error is logged and the calling function is immediately exited by invoking a return with the < 0 error code.

Parameters

[in]

pservo

Pointer to DynaServo derived object.

Definition at line 210 of file DynaLibInternal.h.

Referenced by DynaServoGeneric::AgentWriteGoalPos(), DynaServoGeneric::AgentWriteGoalSpeed(), DynaServoGeneric::AgentWriteGoalSpeedPos(), DynaServoGeneric::CfgWriteAlarmShutdownMask(), DynaServoEX106P::CfgWriteDriveMode(), DynaServoGeneric::CfgWriteMaxTorqueLimit(), DynaServoGeneric::CfgWriteRotationLimits(), DynaServoGeneric::CfgWriteServoMode(), DynaServoGeneric::CfgWriteServoModeContinuous(), DynaServoGeneric::CfgWriteTemperatureLimit(), DynaServoGeneric::CfgWriteVoltageLimits(), DynaServoGeneric::EStop(), DynaServoGeneric::Freeze(), DynaServoGeneric::MoveAtSpeed(), DynaChain::MoveAtSpeed(), DynaServoGeneric::MoveAtSpeedTo(), DynaChain::MoveAtSpeedTo(), DynaServoGeneric::MoveTo(), DynaChain::MoveTo(), DynaServoGeneric::Release(), DynaServoGeneric::ReloadMaxTorqueLimit(), DynaServoGeneric::Stop(), DynaChain::SyncMoveAtSpeed(), DynaChain::SyncMoveAtSpeedTo(), DynaChain::SyncMoveTo(), DynaChain::SyncWriteGoalPos(), DynaChain::SyncWriteGoalSpeed(), DynaChain::vSyncMoveAtSpeed(), DynaServoGeneric::WriteControlMethod(), DynaServoGeneric::WriteCtlMethodCompliance(), DynaServoGeneric::WriteCtlMethodPid(), DynaServoGeneric::WriteGoalPos(), DynaServoGeneric::WriteGoalSpeed(), DynaServoGeneric::WriteLed(), DynaServoGeneric::WriteMaxTorqueLimit(), and DynaServoGeneric::WriteTorqueEnable().

#define DYNA_TRY_IS_UNLINKED

(

pservo

)

Value:

do \
  { \
    if( !((pservo)->IsUnlinked()) ) \
    { \
      DYNA_LOG_ERROR(DYNA_ECODE_LINKED, \
          "Servo %d: Operation not supported: Linked with servo %d.", \
          (pservo)->m_nServoId, (pservo)->m_link.m_pServoMate->GetServoId()); \
      return -DYNA_ECODE_LINKED; \
    } \
  } while(0)

Test if the servo is unlinked.

If the try fails, an appropriate error is logged and the calling function is immediately exited by invoking a return with the < 0 error code.

Parameters

[in]

pservo

Pointer to DynaServo derived object.

Definition at line 231 of file DynaLibInternal.h.

#define DYNA_TRY_RC	(		rc,
			fmt,
			...
	)

Value:

do \
  { \
    if( (rc) < 0 ) \
    { \
      DYNA_LOG_ERROR(rc, fmt, ##__VA_ARGS__); \
      return rc; \
    } \
  } while(0)

Test if Dynamixel return code is not an error.

If the try fails, an appropriate error is logged and the calling function is immediately exited by invoking a return with the < 0 error code.

Parameters

[in]

comm

Dynamixel bus communication object.

Definition at line 152 of file DynaLibInternal.h.

Referenced by DynaServoGeneric::CalcMatesGoalPos(), DynaCommBotSense::SetBaudRate(), DynaCommBotSense::SetHalfDuplexCtl(), and DynaChain::SyncWriteGoalPos().

#define DYNA_TRY_SERVO_HAS_AGENT

(

pservo

)

Value:

do \
  { \
    if( (pservo)->m_pAgent == NULL ) \
    { \
      DYNA_LOG_ERROR(DYNA_ECODE_NOT_SUPP, \
          "Servo %d: No servo proxy agent.", \
          (pservo)->m_nServoId); \
      return -DYNA_ECODE_NOT_SUPP; \
    } \
  } while(0)

Test if the servo has a proxy agent.

The proxy agent is required to do position control for servos in continuous mode, since the servos do not support this function.

If the try fails, an appropriate error is logged and the calling function is immediately exited by invoking a return with the < 0 error code.

Parameters

[in]

pservo

Pointer to DynaServo derived object.

Definition at line 328 of file DynaLibInternal.h.

Referenced by DynaServoGeneric::AgentWriteGoalPos(), DynaServoGeneric::AgentWriteGoalSpeed(), and DynaServoGeneric::AgentWriteGoalSpeedPos().

#define DYNA_TRY_SERVO_HAS_MODE	(		pservo,
			mode
	)

Value:

do \
  { \
    if( !((pservo)->m_spec.m_uSupportedModes & (mode)) ) \
    { \
      DYNA_LOG_ERROR(DYNA_ECODE_NOT_SUPP, \
          "Servo %d: Required %s mode not supported.",\
          (pservo)->m_nServoId, \
          (((mode)&DYNA_MODE_CONTINUOUS)? "continuous": "servo")); \
      return -DYNA_ECODE_NOT_SUPP; \
    } \
  } while(0)

Test if the servo has one of the required modes exception macro.

If the try fails, an appropriate error is logged and the calling function is immediately exited by invoking a return with the < 0 error code.

Parameters

[in]	pservo	Pointer to DynaServo derived object.
[in]	mode	Required servo modes mask.

Definition at line 253 of file DynaLibInternal.h.

Referenced by DynaServoGeneric::CfgWriteServoModeContinuous().

#define DYNA_TRY_SERVO_HAS_POS_CTL

(

pservo

)

Value:

do \
  { \
    if( ((pservo)->m_cfg.m_uServoMode != DYNA_MODE_SERVO) && \
        !(pservo)->m_spec.m_bHas360Pos ) \
    { \
      DYNA_LOG_ERROR(DYNA_ECODE_NOT_SUPP, \
          "Servo %d: Does not support position control.", \
          (pservo)->m_nServoId); \
      return -DYNA_ECODE_NOT_SUPP; \
    } \
  } while(0)

Test if the servo has positiion control.

A servo has position control if:

• in servo mode (servo will translate to new position).
• in continuous mode with 360 ° position data (host will translate to new position).

If the try fails, an appropriate error is logged and the calling function is immediately exited by invoking a return with the < 0 error code.

Parameters

[in]

pservo

Pointer to DynaServo derived object.

Definition at line 303 of file DynaLibInternal.h.

Referenced by DynaServoGeneric::AgentWriteGoalPos(), DynaServoGeneric::AgentWriteGoalSpeed(), DynaServoGeneric::AgentWriteGoalSpeedPos(), DynaServoGeneric::MoveAtSpeedTo(), DynaChain::MoveAtSpeedTo(), DynaServoGeneric::MoveTo(), DynaServoGeneric::ReadCurPos(), DynaChain::SyncMoveAtSpeedTo(), and DynaChain::SyncMoveTo().

#define DYNA_TRY_SERVO_ID

(

id

)

Value:

do \
  { \
    if( ((int)(id) < DYNA_ID_MIN) || ((int)(id) > DYNA_ID_MAX) ) \
    { \
      DYNA_LOG_ERROR(DYNA_ECODE_BAD_VAL, "Servo id %d: Out-of-range.", \
          (int)(id)); \
      return -DYNA_ECODE_BAD_VAL; \
    } \
  } while(0)

Testing if the servo id is in range exception macro.

If the try fails, an appropriate error is logged and the calling function is immediately exited by invoking a return with the < 0 error code.

Parameters

[in]

id

Servo id.

Definition at line 190 of file DynaLibInternal.h.

Referenced by DynaChain::AddNewServo(), DynaChain::ChainEntryDelete(), DynaChain::ChainEntryNew(), DynaServo::Ping(), DynaServo::ReadBaudRate(), DynaServo::ReadFirmwareVersion(), DynaServo::ReadModelNumber(), DynaServo::ReadServoId(), DynaServo::Reset(), DynaServo::WriteBaudRate(), and DynaServo::WriteServoId().

#define DYNA_TRY_SERVO_IN_CHAIN	(		pchain,
			id
	)

Value:

do \
  { \
    if( ((int)(id) < DYNA_ID_MIN) || ((int)(id) > DYNA_ID_MAX) ) \
    { \
      DYNA_LOG_ERROR(DYNA_ECODE_BAD_VAL, "Servo %d: Id out of range.", \
          (int)(id)); \
      return -DYNA_ECODE_BAD_VAL; \
    } \
    else if( (pchain)->m_pChain[(id)] == NULL ) \
    { \
      DYNA_LOG_ERROR(DYNA_ECODE_NO_SERVO, "Servor %d: No servo in chain.", \
          (int)(id)); \
      return -DYNA_ECODE_NO_SERVO; \
    } \
  } while(0)

Test if the servo id is valid and present in chain exception macro.

If the try fails, an appropriate error is logged and the calling function is immediately exited by invoking a return with the < 0 error code.

Parameters

[in]	pchain	Pointer to DynaChain object.
[in]	id	Servo id.

Definition at line 373 of file DynaLibInternal.h.

Referenced by DynaChain::LinkServos(), DynaChain::MoveAtSpeed(), DynaChain::MoveAtSpeedTo(), DynaChain::MoveTo(), DynaChain::RemoveServo(), DynaChain::SyncMoveAtSpeed(), DynaChain::SyncMoveAtSpeedTo(), DynaChain::SyncMoveTo(), DynaChain::SyncWriteGoalPos(), DynaChain::SyncWriteGoalSpeed(), DynaChain::UnlinkServos(), and DynaChain::vSyncMoveAtSpeed().

#define DYNA_TRY_SERVO_IN_MODE	(		pservo,
			mode
	)

Value:

do \
  { \
    if( ((pservo)->m_cfg.m_uServoMode != (mode)) ) \
    { \
      DYNA_LOG_ERROR(DYNA_ECODE_NOT_SUPP, \
          "Servo %d: Not in required %s mode.",\
          (pservo)->m_nServoId, \
          (((mode)&DYNA_MODE_CONTINUOUS)? "continuous": "servo")); \
      return -DYNA_ECODE_NOT_SUPP; \
    } \
  } while(0)

Test if the servo is in the given mode.

If the try fails, an appropriate error is logged and the calling function is immediately exited by invoking a return with the < 0 error code.

Parameters

[in]	pservo	Pointer to DynaServo derived object.
[in]	mode	Required servo modes mask.

Definition at line 276 of file DynaLibInternal.h.

Referenced by DynaServoGeneric::MoveAtSpeed(), DynaChain::SyncMoveAtSpeed(), and DynaChain::vSyncMoveAtSpeed().

Function Documentation

int DynaMapDxlToEcode

(

int

nDxlError

)

Map DXL library error code to Dynamixel error code.

Parameters

nDxlError

DXL error code.

Returns

Dynamixel library error code.

Definition at line 117 of file DynaError.cxx.

References DXL_COMM_RXCORRUPT, DXL_COMM_RXFAIL, DXL_COMM_RXTIMEOUT, DXL_COMM_TXERROR, DXL_COMM_TXFAIL, DYNA_ECODE_ECOMM, DYNA_ECODE_RX_BAD_PKT, DYNA_ECODE_RX_FAIL, DYNA_ECODE_RX_TIMEOUT, DYNA_ECODE_TX_ERROR, and DYNA_ECODE_TX_FAIL.

Referenced by newstr(), DynaCommSerial::Read16(), DynaCommSerial::Read8(), DynaCommSerial::Reset(), DynaCommSerial::SyncWrite(), DynaCommSerial::Write16(), and DynaCommSerial::Write8().

{
  switch( nDxlError )
  {
    case DXL_COMM_TXFAIL:
      return DYNA_ECODE_TX_FAIL;
    case DXL_COMM_RXFAIL:
      return DYNA_ECODE_RX_FAIL;
    case DXL_COMM_TXERROR:
      return DYNA_ECODE_TX_ERROR;
    case DXL_COMM_RXTIMEOUT:
      return DYNA_ECODE_RX_TIMEOUT;
    case DXL_COMM_RXCORRUPT:
      return DYNA_ECODE_RX_BAD_PKT;
    default:
      return DYNA_ECODE_ECOMM;
  }
}

char* newstr ( const char *  s )

inline

Allocate new duplicated string.

Parameters

s	String to duplicate.

Returns

Returns pointer to allocated string if s is not NULL and the length of s > 0.
Otherwise returns NULL.

Definition at line 432 of file DynaLibInternal.h.

References DynaMapDxlToEcode().

Referenced by DynaComm::DynaComm(), DynaCommBotSense::DynaCommBotSense(), DynaCommSerial::DynaCommSerial(), DynaServo::Init(), DynaShellCmdLoadRecording::Init(), DynaServoAX12::InitSpec(), DynaServoRX24F::InitSpec(), DynaServoRX10::InitSpec(), DynaServoRX28::InitSpec(), DynaServoRX64::InitSpec(), DynaServoMX28::InitSpec(), DynaServoMX64::InitSpec(), DynaServoMX12W::InitSpec(), DynaServoMX106::InitSpec(), DynaServoEX106P::InitSpec(), DynaServoGeneric::InitSpec(), DynaCommSerial::Open(), DynaCommBotSense::Open(), DynaRecording::SetDate(), DynaShellCmdLoadRecording::SetDateField(), and DynaShellCmd::SetPublishedInfo().

{
  char  *t;
  if( (s != NULL) && (*s != 0) )
  {
    t = new char[strlen(s)+1];
    strcpy(t, s);
  }
  else
  {
    t = NULL;
  }
  return t;
}