bsDynaMsgs.xml

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE netmsgs PUBLIC "-//www.roadnarrows.com//DTD NETMSGS 1.0//EN"
          "http://www.roadnarrows.com/xml/netmsgs/1.0/netmsgs.dtd">

<!--
 - Package: Dynamixel
 - Module:  bsDyna
 - File:    bsDynaMsgs.xml
 -

/*!
 \file

  $LastChangedDate: 2015-01-12 10:56:06 -0700 (Mon, 12 Jan 2015) $
  $Rev: 3845 $

  \brief BotSense client - bsProxy server Dynamixel device messages.
  
  \author Robin Knight (robin.knight@roadnarrows.com)
  
 -  \copyright
 -    \h_copy 2012-2017. RoadNarrows LLC.\n
 -    http://www.roadnarrows.com\n
 -    All Rights Reserved
*/
-->

<!--
@EulaBegin@
 - 
 - Unless otherwise stated explicitly, all materials contained are copyrighted
 - and may not be used without RoadNarrows LLC's written consent,
 - except as provided in these terms and conditions or in the copyright
 - notice (documents and software) or other proprietary notice provided with
 - the relevant materials.
 - 
 - IN NO EVENT SHALL THE AUTHOR, ROADNARROWS LLC, OR ANY 
 - MEMBERS/EMPLOYEES/CONTRACTORS OF ROADNARROWS OR DISTRIBUTORS OF THIS SOFTWARE
 - BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR
 - CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS
 - DOCUMENTATION, EVEN IF THE AUTHORS OR ANY OF THE ABOVE PARTIES HAVE BEEN
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 - INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
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 - "AS IS" BASIS, AND THE AUTHORS AND DISTRIBUTORS HAVE NO OBLIGATION TO
 - PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
 - 
@EulaEnd@
-->

<netmsgs encoding="itv" endian="big">

  <!-- ........................................................................
    - Meta Data to Tweak Source Generation
    ....................................................................... -->
  <meta>
    <brief>
      \h_botsense Server/Client Dynamixel NetMsgs XML Definitions.
    </brief>
    <ns>BsDyna</ns>
    <prologue lang="h">
#include "botsense/BotSense.h"
#include "Dynamixel/Dynamixel.h"
    </prologue>
    <epilogue lang="h"></epilogue>
    <prologue lang="c"></prologue>
    <epilogue lang="c"></epilogue>
    <prologue lang="python">
    </prologue>
    <epilogue lang="python"></epilogue>
  </meta>

  <!-- ........................................................................
    - Extended Field Types (Optional)
    ....................................................................... -->
  <field_types>
    <ftypedef ftid="WriteTuple"     ftype="struct">
      <fielddef fname="servo_id"    ftype="u8" />
      <fielddef fname="val"         ftype="u16" />
    </ftypedef>
  </field_types>


  <!-- ........................................................................
    - Message Definitions
    ....................................................................... -->
  <msg_types>

    <!-- Dynamixel USB Serial Open Request Arguments Sub-Message -->
    <msgdef msgid="ReqOpenArgs">
      <fielddef fname="baudrate"  ftype="u32" />
    </msgdef>

    <!-- Set Baudrate Request (Ok Response) -->
    <msgdef msgid="ReqSetBaudRate">
      <fielddef fname="baudrate"  ftype="u32" />
    </msgdef>

    <!-- Read 8-btis Request -->
    <msgdef msgid="ReqRead8">
      <fielddef fname="servo_id"  ftype="u8" />
      <fielddef fname="addr"      ftype="u8" />
    </msgdef>

    <!-- Read 8-btis Response -->
    <msgdef msgid="RspRead8">
      <fielddef fname="alarms"    ftype="u8" />
      <fielddef fname="val"       ftype="u8" />
    </msgdef>

    <!-- Read 16-btis Request -->
    <msgdef msgid="ReqRead16">
      <fielddef fname="servo_id"  ftype="u8" />
      <fielddef fname="addr"      ftype="u8" />
    </msgdef>

    <!-- Read 8-btis Response -->
    <msgdef msgid="RspRead16">
      <fielddef fname="alarms"    ftype="u8" />
      <fielddef fname="val"       ftype="u16" />
    </msgdef>

    <!-- Write 8-btis Request -->
    <msgdef msgid="ReqWrite8">
      <fielddef fname="servo_id"  ftype="u8" />
      <fielddef fname="addr"      ftype="u8" />
      <fielddef fname="val"       ftype="u8" />
    </msgdef>

    <!-- Write 8-btis Response -->
    <msgdef msgid="RspWrite8">
      <fielddef fname="alarms"    ftype="u8" />
    </msgdef>

    <!-- Write 16-btis Request -->
    <msgdef msgid="ReqWrite16">
      <fielddef fname="servo_id"  ftype="u8" />
      <fielddef fname="addr"      ftype="u8" />
      <fielddef fname="val"       ftype="u16" />
    </msgdef>

    <!-- Write 16-btis Response -->
    <msgdef msgid="RspWrite16">
      <fielddef fname="alarms"    ftype="u8" />
    </msgdef>

    <!-- Sync Write Request (Ok Response) -->
    <msgdef msgid="ReqSyncWrite">
      <fielddef fname="addr"      ftype="u8" />
      <fielddef fname="data_size" ftype="u8" />
      <fielddef fname="tuples"    ftype="WriteTuple[]" size="DYNA_ID_NUMOF" />
    </msgdef>

    <!-- Ping Servo Request -->
    <msgdef msgid="ReqPing">
      <fielddef fname="servo_id"  ftype="u8" />
    </msgdef>

    <!-- Ping Servo Response -->
    <msgdef msgid="RspPing">
      <fielddef fname="pong"      ftype="bool" />
    </msgdef>

    <!-- Reset Servo Request (Ok Response) -->
    <msgdef msgid="ReqReset">
      <fielddef fname="servo_id"  ftype="u8" />
    </msgdef>

    <!-- Set Half-Duplex Control Request (Ok Response) -->
    <msgdef msgid="ReqSetHalfDuplexCtl">
      <fielddef fname="signal"  ftype="u32" />
    </msgdef>

  </msg_types>

</netmsgs>