DynaComm Class Reference

Dynamixel Bus Communications Abstract Base Class. More...

#include <DynaComm.h>

Inheritance diagram for DynaComm:

Public Types
typedef void(*	HalfDuplexTxFunc_T) (void *pArg)
	Half-duplex control transmit function type.
typedef void(*	HalfDuplexRxFunc_T) (void *pArg, size_t uNumTxBytes)
	Half-duplex control receive function type.

Public Member Functions
	DynaComm ()
	DynaComm (const char *sUri, int nBaudRate)
virtual	~DynaComm ()
	Destructor.
const char *	GetDeviceUri () const
const int	GetBaudRate () const
virtual int	GetResourceId () const =0
	Get system-unique resource identifier. More...
virtual int	Open (const char *sDevUri, int nBaudRate)=0
	Open communication to dynamixel bus. More...
virtual int	Open ()=0
	(Re)Open communication to dynamixel bus. More...
virtual int	Close ()=0
	Close communication to dynamixel bus. More...
virtual int	SetBaudRate (int nNewBaudRate)=0
	Set the Dynamixel Bus new baud rate. More...
virtual int	SetHalfDuplexCtl (int nSignal, HalfDuplexTxFunc_T fnEnableTx=NULL, HalfDuplexRxFunc_T fnEnableRx=NULL)=0
virtual int	Read8 (int nServoId, uint_t uAddr, byte_t *pVal)=0
	Read an 8-bit value from Dynamixel servo control table. More...
virtual int	Read8 (int nServoId, uint_t uAddr, uint_t *pVal)
	Read an 8-bit value from Dynamixel servo control table. More...
virtual int	Write8 (int nServoId, uint_t uAddr, byte_t byVal)=0
	Write an 8-bit value to Dynamixel servo control table. More...
virtual int	Write8 (int nServoId, uint_t uAddr, uint_t uVal)
	Write an 8-bit value to Dynamixel servo control table. More...
virtual int	Read16 (int nServoId, uint_t uAddr, ushort_t *pVal)=0
	Read a 16-bit value from Dynamixel servo control table. More...
virtual int	Read16 (int nServoId, uint_t uAddr, uint_t *pVal)
	Read a 16-bit value from Dynamixel servo control table. More...
virtual int	Write16 (int nServoId, uint_t uAddr, ushort_t uhVal)=0
	Write a 16-bit value to Dynamixel servo control table. More...
virtual int	Write16 (int nServoId, uint_t uAddr, uint_t uVal)
	Write a 16-bit value to Dynamixel servo control table. More...
virtual int	vSyncWrite (uint_t uAddr, uint_t uValSize, uint_t uCount,...)
	Synchronous write 8/16-bit values to a list of Dynamixel servos. More...
virtual int	SyncWrite (uint_t uAddr, uint_t uValSize, DynaSyncWriteTuple_T tuples[], uint_t uCount)=0
	Synchronous Write 8/16-bit values to a list of Dynamixel servos. More...
virtual bool	Ping (int nServoId)=0
	Ping the servo. More...
virtual int	Reset (int nServoId)=0
	Reset a servo back to default values. More...
virtual bool	IsOpen ()
	Test if Dynamixel Bus is open. More...
virtual uint_t	GetAlarms ()
	Get current alarms. More...
virtual void	ClearAlarms ()
	Clear current alarms.
virtual uint_t	GetBusStatus ()
	Get the Dynamixel Bus status. More...

Static Public Member Functions
static DynaComm *	New (const char *sUri, int nBaudRate)
	Archetype constructor to create a new Dynamixel bus communication derived instance. More...
static std::string	GetAlarmsString (const uint_t uAlarms, const std::string &strSep="; ")
	Get a formatted servo alarms string associated with the alarms. More...
static std::string	GetAlarmsShortString (const uint_t uAlarms, const std::string &strSep=",")
	Get a formatted servo alarms short string associated with the alarms. More...
static const char *	GetBusStatusString (uint_t uBusStatus)
	Get the string describing the Dynamixel servo communication status. More...
static int	BaudRateToNum (int nBaudRate)
	Map baud rate to Dynamixel baud number. More...
static int	BaudNumToRate (int nBaudRate)
	Map baud number to Dynamixel baud rate. More...
static int	BaudRateAt (int nIndex)
	Get the baud rate associated with the given index. More...
static int	BaudNumAt (int nIndex)
	Get the baud number associated with the given index. More...

Protected Attributes
char *	m_sDevUri
	dynamixel bus device URI
int	m_nBaudRate
	baud rate
bool	m_bIsOpen
	dynamixel bus communication is [not] open
uint_t	m_uBusStatus
	bus comminication status
uint_t	m_uAlarms
	servo alarms from last I/O operation
shm_mutex_t	m_mutexComm
	synchonization mutex

Static Protected Attributes
static const key_t	ShmKey = 0x70add12a
	shared memory key More...

Detailed Description

Dynamixel Bus Communications Abstract Base Class.

The DynaComm abstract class provides the I/O template to communicate with Dynamixel servos on a Dynamixel bus.

Definition at line 80 of file DynaComm.h.

Constructor & Destructor Documentation

DynaComm::DynaComm

(

)

Default constructor.

Definition at line 149 of file DynaComm.cxx.

References DYNA_ALARM_NONE.

{ 
  m_sDevUri         = NULL;
  m_nBaudRate       = 0;
  m_bIsOpen         = false;
  m_uAlarms         = DYNA_ALARM_NONE;

  shm_mutex_init(ShmKey, &m_mutexComm);
}

DynaComm::DynaComm	(	const char *	sUri,
		int	nBaudRate
	)

Initialization constructor.

Parameters

sUri	Dynamixel Bus device Uniform Resource Identifier string.
nBaudRate	Device baud rate.

Definition at line 159 of file DynaComm.cxx.

References DYNA_ALARM_NONE, and newstr().

{ 
  m_sDevUri     = newstr(sUri);
  m_nBaudRate   = nBaudRate;
  m_bIsOpen     = false;
  m_uAlarms     = DYNA_ALARM_NONE;

  shm_mutex_init(ShmKey, &m_mutexComm);
}

Member Function Documentation

int DynaComm::BaudNumAt ( int  nIndex )

static

Get the baud number associated with the given index.

This function can be used to iterate of all supported baud rates.

Parameters

nIndex

Zero based index.

Returns

If the index is in range, returns the baud number at the index.
Otherwise 0 is returned.

Definition at line 408 of file DynaComm.cxx.

References DynaBaudMap.

Referenced by GetBusStatus().

{
  if( (nIndex >= 0) && (nIndex < arraysize(DynaBaudMap)) )
  {
    return DynaBaudMap[nIndex][1];
  }
  else
  {
    return 0;
  }
}

int DynaComm::BaudNumToRate ( int  nBaudRate )

static

Map baud number to Dynamixel baud rate.

Parameters

nBaudNum

Baud number.

Returns

Returns baud rate on success.

Definition at line 382 of file DynaComm.cxx.

References DYNA_ECODE_BAD_VAL, and DynaBaudMap.

Referenced by GetBusStatus(), and DynaServo::ReadBaudRate().

{
  int   i;

  for(i=0; i<arraysize(DynaBaudMap); ++i)
  {
    if( DynaBaudMap[i][1] == nBaudNum )
    {
      return DynaBaudMap[i][0];
    }
  }
  return -DYNA_ECODE_BAD_VAL;
}

int DynaComm::BaudRateAt ( int  nIndex )

static

Get the baud rate associated with the given index.

This function can be used to iterate of all supported baud rates.

Parameters

nIndex

Zero based index.

Returns

If the index is in range, returns the baud rate at the index.
Otherwise 0 is returned.

Definition at line 396 of file DynaComm.cxx.

References DynaBaudMap.

Referenced by GetBusStatus(), and DynaShellCmdCreate::TabCompletion().

{
  if( (nIndex >= 0) && (nIndex < arraysize(DynaBaudMap)) )
  {
    return DynaBaudMap[nIndex][0];
  }
  else
  {
    return 0;
  }
}

int DynaComm::BaudRateToNum ( int  nBaudRate )

static

Map baud rate to Dynamixel baud number.

Parameters

nBaudRate

Baud rate.

Returns

Returns baud number on success.

Definition at line 368 of file DynaComm.cxx.

References DYNA_ECODE_BAD_VAL, and DynaBaudMap.

Referenced by GetBusStatus(), New(), DynaCommSerial::Open(), DynaCommSerial::SetBaudRate(), and DynaServo::WriteBaudRate().

{
  int   i;

  for(i=0; i<arraysize(DynaBaudMap); ++i)
  {
    if( DynaBaudMap[i][0] == nBaudRate )
    {
      return DynaBaudMap[i][1];
    }
  }
  return -DYNA_ECODE_BAD_VAL;
}

virtual int DynaComm::Close ( )

pure virtual

Close communication to dynamixel bus.

Implemented in DynaCommBotSense, and DynaCommSerial.

Referenced by GetBaudRate().

virtual uint_t DynaComm::GetAlarms ( )

inlinevirtual

Get current alarms.

Returns

Returns alarm bits.

Definition at line 393 of file DynaComm.h.

References m_uAlarms.

Referenced by DynaServoGeneric::ReadHealth().

  {
    return m_uAlarms;
  }

string DynaComm::GetAlarmsShortString ( const uint_t  uAlarms, const std::string &  strSep = ","  )

static

Get a formatted servo alarms short string associated with the alarms.

Parameters

uAlarms	Dynamixel servo alarm bits.
strSep	Separator string between alarm substrings.

Returns

Returns string.

Definition at line 340 of file DynaComm.cxx.

References DYNA_ALARM_NONE, and DynaServoAlarmShortStrTbl.

Referenced by ClearAlarms().

{
  string  strAlarms;
  size_t  i;
  uint_t  bit;

  if( uAlarms == DYNA_ALARM_NONE )
  {
    return "OK";
  }

  for(i=0, bit=0x01; i<arraysize(DynaServoAlarmShortStrTbl); ++i, bit<<=1)
  {
    if( !strAlarms.empty() )
    {
      strAlarms += strSep;
    }

    if( bit & uAlarms )
    {
      strAlarms += DynaServoAlarmShortStrTbl[i];
    }
  }

  return strAlarms;
}

string DynaComm::GetAlarmsString ( const uint_t  uAlarms, const std::string &  strSep = "; "  )

static

Get a formatted servo alarms string associated with the alarms.

Parameters

uAlarms	Dynamixel servo alarm bits.
strSep	Separator string between alarm substrings.

Returns

Returns string.

Definition at line 312 of file DynaComm.cxx.

References DYNA_ALARM_NONE, and DynaServoAlarmStrTbl.

Referenced by ClearAlarms(), DynaShellCmdReadHealth::doExec(), DynaLogServoAlarms(), and DynaShell::Error().

{
  string  strAlarms;
  size_t  i;
  uint_t  bit;

  if( uAlarms == DYNA_ALARM_NONE )
  {
    return "OK";
  }

  for(i=0, bit=0x01; i<arraysize(DynaServoAlarmStrTbl); ++i, bit<<=1)
  {
    if( !strAlarms.empty() )
    {
      strAlarms += strSep;
    }

    if( bit & uAlarms )
    {
      strAlarms += DynaServoAlarmStrTbl[i];
    }
  }

  return strAlarms;
}

const int DynaComm::GetBaudRate ( ) const

inline

Get the current baud rate.

Returns

Return buad rate.

Definition at line 146 of file DynaComm.h.

References Close(), GetResourceId(), m_nBaudRate, Open(), Read8(), SetBaudRate(), and SetHalfDuplexCtl().

  {
    return m_nBaudRate;
  }

virtual uint_t DynaComm::GetBusStatus ( )

inlinevirtual

Get the Dynamixel Bus status.

Returns

Status.

Definition at line 434 of file DynaComm.h.

References BaudNumAt(), BaudNumToRate(), BaudRateAt(), BaudRateToNum(), GetBusStatusString(), and m_uBusStatus.

  {
    return m_uBusStatus;
  }

const char * DynaComm::GetBusStatusString ( uint_t  uBusStatus )

static

Get the string describing the Dynamixel servo communication status.

Parameters

uBusStatus

Dynamixel bus communication status.

Returns

Returns the appropriate status string.

Definition at line 298 of file DynaComm.cxx.

References DynaBusStatusStrTbl.

Referenced by GetBusStatus().

{
  if( uBusStatus < 0 )
  {
    uBusStatus = -uBusStatus;
  }

  if( uBusStatus >= arraysize(DynaBusStatusStrTbl) )
  {
    uBusStatus = arraysize(DynaBusStatusStrTbl)  - 1;
  }
  return DynaBusStatusStrTbl[uBusStatus];
}

const char* DynaComm::GetDeviceUri ( ) const

inline

Get the Dynamixel Bus Uniform Resource Identifier.

Returns

Returns URI.

Definition at line 136 of file DynaComm.h.

References m_sDevUri.

  {
    return m_sDevUri;
  }

virtual int DynaComm::GetResourceId ( ) const

pure virtual

Get system-unique resource identifier.

Returns

Resource id.

Implemented in DynaCommBotSense, and DynaCommSerial.

Referenced by GetBaudRate().

virtual bool DynaComm::IsOpen ( )

inlinevirtual

Test if Dynamixel Bus is open.

Returns

Returns true or false.

Definition at line 383 of file DynaComm.h.

References m_bIsOpen.

Referenced by DynaShellCmd::ChkComm(), DynaShellCmdCreate::CommNew(), DynaShellCmdMegaScan::CommNew(), and New().

  {
    return m_bIsOpen;
  }

DynaComm * DynaComm::New ( const char *  sUri, int  nBaudRate  )

static

Archetype constructor to create a new Dynamixel bus communication derived instance.

The specific DynaComm object created depends on the URI specified. Currently two derived objects are supported:

DynaCommSerial	Direct connected serial device.
DynaCommBotSense	BotSense proxied serial device.

Supported URIs:

/devicepath
botsense://[hostname][:port]/devicepath

Parameters

sUri	Uniform Resource Identifier string.
nBaudRate	Dynamixel bus supported baud rate.

Returns

On succes, returns pointer to the allocated DynaComm derived object.
On failure, NULL is returned.

Definition at line 179 of file DynaComm.cxx.

References BaudRateToNum(), DYNA_ECODE_BAD_DEV, DYNA_ECODE_BAD_VAL, DYNA_LOG_ERROR, and IsOpen().

Referenced by DynaShellCmdCreate::CommNew(), DynaShellCmdMegaScan::CommNew(), and MainInitArgs().

{
  Uri_T      *pUri;         // parsed URI
  const char *sHostName;    // parsed/default hostname
  int         nPortNum;     // parsed/default IP port number
  DynaComm   *pDynaComm;    // new derived Dynamixel bus communication object
  int         rc;           // return code

  pUri      = NULL;
  pDynaComm = NULL;

  //
  // No uri string.
  //
  if( sUri == NULL )
  {
    DYNA_LOG_ERROR(DYNA_ECODE_BAD_VAL, "No URI specified.");
  }

  //
  // Bad baud rate.
  //
  else if( (rc = DynaComm::BaudRateToNum(nBaudRate)) < 0 )
  {
    DYNA_LOG_ERROR(rc, "%d: Unsupported baudrate.", nBaudRate);
  }

  //
  // Bad uri parse.
  //
  else if( (pUri = UriParseNew(sUri)) == NULL )
  {
    DYNA_LOG_ERROR(DYNA_ECODE_BAD_VAL, "Failed to parse URI \"%s\".", sUri);
  }

  //
  // Required device path in uri not specified.
  //
  else if( pUri->m_sPath == NULL )
  {
    DYNA_LOG_ERROR(DYNA_ECODE_BAD_VAL,
        "URI \"%s\" does not specify device path.", sUri);
  }

  //
  // Direct connect serial Dynamixel bus.
  //
  else if( pUri->m_sScheme == NULL )
  {
    pDynaComm = new DynaCommSerial(pUri->m_sPath, nBaudRate);
  }

  //
  // BotSense proxied Dynamixel bus.
  //
  else if( !strcasecmp(pUri->m_sScheme, BSPROXY_URI_SCHEME) )
  {
    sHostName = pUri->m_sHostName;
    nPortNum  = pUri->m_nPortNum;

    if( sHostName == NULL )
    {
      sHostName = BSPROXY_URI_HOSTNAME_DFT; 
    }

    if( nPortNum == URI_PORT_NONE )
    {
      nPortNum = BSPROXY_LISTEN_PORT_DFT;
    }

    pDynaComm = new DynaCommBotSense(pUri->m_sPath, nBaudRate,
                                      sHostName, nPortNum);
  }

  //
  // File scheme is also direct connect, but only locally.
  //
  else if( !strcasecmp(pUri->m_sScheme, URI_SCHEME_FILE) )
  {
    if( (pUri->m_sHostName == NULL) || 
        !strcasecmp(pUri->m_sHostName, URI_LOCAL_HOST) )
    {
      pDynaComm = new DynaCommSerial(pUri->m_sPath, nBaudRate);
    }
    else
    {
      DYNA_LOG_ERROR(DYNA_ECODE_BAD_VAL,
        "URI \"%s\" remote file device access not supported - "
        "use botsense proxy services.", sUri);
    }
  }

  //
  // Bad scheme.
  //
  else
  {
    DYNA_LOG_ERROR(DYNA_ECODE_BAD_VAL, "URI \"%s\" unknown scheme.", sUri);
  }

  if( pUri != NULL )
  {
    UriDelete(pUri);
  }

  //
  // Final checks
  //
  if( (pDynaComm != NULL) && !pDynaComm->IsOpen() )
  {
    DYNA_LOG_ERROR(DYNA_ECODE_BAD_DEV,
        "Failed to open the device \"%s\" at %d baud.", sUri, nBaudRate);
    delete pDynaComm;
    pDynaComm = NULL;
  }

  return pDynaComm;
}

virtual int DynaComm::Open ( const char *  sDevUri, int  nBaudRate  )

pure virtual

Open communication to dynamixel bus.

The given serial device is opened at the given baud rate.

Parameters

sDevUri	Device Uniform Resource Identifier.
nBaudRate	Device baud rate.

Implemented in DynaCommBotSense, and DynaCommSerial.

virtual int DynaComm::Open ( )

pure virtual

(Re)Open communication to dynamixel bus.

Implemented in DynaCommBotSense, and DynaCommSerial.

Referenced by GetBaudRate().

virtual bool DynaComm::Ping ( int  nServoId )

pure virtual

Ping the servo.

Parameters

nServoId

Servo id.

Returns

Returns true if the servo responded, else false.

Implemented in DynaCommBotSense, and DynaCommSerial.

Referenced by DynaShellCmdPing::Exec(), DynaShellCmdMegaScan::Exec(), DynaServo::Ping(), DynaServoGeneric::Ping(), and Write16().

virtual int DynaComm::Read16 ( int  nServoId, uint_t  uAddr, ushort_t *  pVal  )

pure virtual

Read a 16-bit value from Dynamixel servo control table.

Parameters

	nServoId	Servo id.
	uAddr	Servo control table address.
[out]	pVal	Value read.

Implemented in DynaCommBotSense, and DynaCommSerial.

Referenced by DynaServoGeneric::CfgReadMaxTorqueLimit(), DynaServoGeneric::CfgReadRotationLimits(), DynaShellCmdReadMaxTorqueLimit::doExec(), DynaShellCmdReadWord::doExec(), DynaServo::DumpCtlTbl(), DynaServoEX106P::Read(), DynaServoGeneric::Read(), Read16(), DynaServoGeneric::ReadCurLoad(), DynaServoGeneric::ReadCurPos(), DynaServoGeneric::ReadCurSpeed(), DynaServoGeneric::ReadGoalPos(), DynaServoGeneric::ReadGoalSpeed(), DynaServoGeneric::ReadMaxTorqueLimit(), DynaServo::ReadModelNumber(), DynaServoEX106P::ReadSensedCurrent(), and Write8().

virtual int DynaComm::Read16 ( int  nServoId, uint_t  uAddr, uint_t *  pVal  )

inlinevirtual

Read a 16-bit value from Dynamixel servo control table.

Parameters

	nServoId	Servo id.
	uAddr	Servo control table address.
[out]	pVal	Value read.

Definition at line 290 of file DynaComm.h.

References DYNA_OK, Read16(), and Write16().

  {
    ushort_t  val;
    int       rc;

    if( (rc = Read16(nServoId, uAddr, &val)) == DYNA_OK )
    {
      *pVal = (uint_t)val;
    }
    return rc;
  }

virtual int DynaComm::Read8 ( int  nServoId, uint_t  uAddr, byte_t *  pVal  )

pure virtual

Read an 8-bit value from Dynamixel servo control table.

Parameters

	nServoId	Servo id.
	uAddr	Servo control table address.
[out]	pVal	Value read.

Implemented in DynaCommBotSense, and DynaCommSerial.

Referenced by DynaServoGeneric::CfgReadAlarmShutdownMask(), DynaServoEX106P::CfgReadDriveMode(), DynaServoGeneric::CfgReadTemperatureLimit(), DynaServoGeneric::CfgReadVoltageLimits(), DynaShellCmdReadByte::doExec(), DynaServo::DumpCtlTbl(), GetBaudRate(), DynaServoEX106P::Read(), DynaServoGeneric::Read(), Read8(), DynaServo::ReadBaudRate(), DynaServoGeneric::ReadCtlMethodCompliance(), DynaServoGeneric::ReadCtlMethodPid(), DynaServo::ReadFirmwareVersion(), DynaServoGeneric::ReadHealth(), DynaServoGeneric::ReadIsMoving(), DynaServoGeneric::ReadLed(), DynaServo::ReadServoId(), DynaServoGeneric::ReadTorqueEnable(), and DynaServoGeneric::SyncCfg().

virtual int DynaComm::Read8 ( int  nServoId, uint_t  uAddr, uint_t *  pVal  )

inlinevirtual

Read an 8-bit value from Dynamixel servo control table.

Parameters

	nServoId	Servo id.
	uAddr	Servo control table address.
[out]	pVal	Value read.

Definition at line 231 of file DynaComm.h.

References DYNA_OK, Read8(), and Write8().

  {
    byte_t  val;
    int     rc;

    if( (rc = Read8(nServoId, uAddr, &val)) == DYNA_OK )
    {
      *pVal = (uint_t)val;
    }
    return rc;
  }

virtual int DynaComm::Reset ( int  nServoId )

pure virtual

Reset a servo back to default values.

Warning

All configuration is lost.

Parameters

nServoId

Servo id.

Implemented in DynaCommBotSense, and DynaCommSerial.

Referenced by DynaServo::Reset(), DynaServoGeneric::Reset(), and Write16().

virtual int DynaComm::SetBaudRate ( int  nNewBaudRate )

pure virtual

Set the Dynamixel Bus new baud rate.

Parameters

nNewBaudRate

New baud rate.

Implemented in DynaCommBotSense, and DynaCommSerial.

Referenced by GetBaudRate().

virtual int DynaComm::SetHalfDuplexCtl ( int  nSignal, HalfDuplexTxFunc_T  fnEnableTx = NULL, HalfDuplexRxFunc_T  fnEnableRx = NULL  )

pure virtual

Set Dynamixel Bus half-duplex software control.

The Dynamixel 3-wire bus is half-duplex. Hardware may automatically control toggling between transmit and receive (e.g. RoadNarrows DynaUSB dongle). If there is no hardware support, then software must provide the tx/rx toggle functions.

Parameters

nSignal	Signal assign to toggle.
fnEnableTx	Enable transmit function.
fnEnableRx	Enable receive function.

Implemented in DynaCommBotSense, and DynaCommSerial.

Referenced by DynaShellCmdSetHalfDuplexCtl::Exec(), and GetBaudRate().

virtual int DynaComm::SyncWrite ( uint_t  uAddr, uint_t  uValSize, DynaSyncWriteTuple_T  tuples[], uint_t  uCount  )

pure virtual

Synchronous Write 8/16-bit values to a list of Dynamixel servos.

Parameters

uAddr	Servo control table write address.
uValSize	Value storage size at addtess. 1 or 2 bytes.
tuples	Array of servo id, write value 2-tuples.
uCount	Number of tuples.

Implemented in DynaCommBotSense, and DynaCommSerial.

Referenced by DynaShellCmdWriteByte::doExec(), DynaShellCmdWriteWord::doExec(), DynaChain::SyncWriteGoalPos(), DynaChain::SyncWriteGoalSpeed(), DynaChain::SyncWriteTorqueEnable(), and Write16().

int DynaComm::vSyncWrite ( uint_t  uAddr, uint_t  uValSize, uint_t  uCount,   ...  )

virtual

Synchronous write 8/16-bit values to a list of Dynamixel servos.

Parameters

uAddr	Servo control table write address.
uValSize	Value storage size of field at addtess. 1 or 2 bytes.
uCount	Number of tuples.
...	A variable argument list of uCount 2-tuples of type (int,uint_t) specifying the servo id and the packed raw field value.

Definition at line 420 of file DynaComm.cxx.

References DYNA_ID_NUMOF, DynaSyncWriteTuple_T::m_nServoId, and DynaSyncWriteTuple_T::m_uVal.

Referenced by DynaServoGeneric::CfgWriteAlarmShutdownMask(), DynaServoEX106P::CfgWriteDriveMode(), DynaServoGeneric::CfgWriteMaxTorqueLimit(), DynaServoGeneric::CfgWriteRotationLimits(), DynaServoGeneric::CfgWriteTemperatureLimit(), DynaServoGeneric::CfgWriteVoltageLimits(), Write16(), DynaServoGeneric::WriteCtlMethodCompliance(), DynaServoGeneric::WriteCtlMethodPid(), DynaServoGeneric::WriteGoalPos(), DynaServoGeneric::WriteGoalSpeed(), DynaServoGeneric::WriteLed(), DynaServoGeneric::WriteMaxTorqueLimit(), and DynaServoGeneric::WriteTorqueEnable().

{
  DynaSyncWriteTuple_T  tuples[DYNA_ID_NUMOF];
  va_list               ap;
  int                   i;

  va_start(ap, uCount);

  for(i=0; i<uCount && i<DYNA_ID_NUMOF; ++i)
  {
    tuples[i].m_nServoId = va_arg(ap, int);
    tuples[i].m_uVal     = va_arg(ap, uint_t);
  }

  va_end(ap);

  return SyncWrite(uAddr, uValSize, tuples, (uint_t)i);
}

virtual int DynaComm::Write16 ( int  nServoId, uint_t  uAddr, ushort_t  uhVal  )

pure virtual

Write a 16-bit value to Dynamixel servo control table.

Parameters

nServoId	Servo id.
uAddr	Servo control table address.
uhVal	Value written.

Implemented in DynaCommBotSense, and DynaCommSerial.

Referenced by DynaServoGeneric::CfgWriteMaxTorqueLimit(), DynaServoGeneric::CfgWriteRotationLimits(), DynaShellCmdWriteMaxTorqueLimit::doExec(), DynaShellCmdWriteWord::doExec(), Read16(), DynaServoEX106P::Write(), DynaServoGeneric::Write(), Write16(), DynaServoGeneric::WriteGoalPos(), DynaServoGeneric::WriteGoalSpeed(), and DynaServoGeneric::WriteMaxTorqueLimit().

virtual int DynaComm::Write16 ( int  nServoId, uint_t  uAddr, uint_t  uVal  )

inlinevirtual

Write a 16-bit value to Dynamixel servo control table.

Parameters

nServoId	Servo id.
uAddr	Servo control table address.
uVal	Value written.

Definition at line 322 of file DynaComm.h.

References Ping(), Reset(), SyncWrite(), vSyncWrite(), and Write16().

  {
    ushort_t  val = (ushort_t)uVal;

    return Write16(nServoId, uAddr, val);
  }

virtual int DynaComm::Write8 ( int  nServoId, uint_t  uAddr, byte_t  byVal  )

pure virtual

Write an 8-bit value to Dynamixel servo control table.

Parameters

nServoId	Servo id.
uAddr	Servo control table address.
byVal	Value written.

Implemented in DynaCommBotSense, and DynaCommSerial.

Referenced by DynaServoGeneric::CfgWriteAlarmShutdownMask(), DynaServoEX106P::CfgWriteDriveMode(), DynaServoGeneric::CfgWriteTemperatureLimit(), DynaServoGeneric::CfgWriteVoltageLimits(), DynaShellCmdWriteByte::doExec(), Read8(), DynaServoEX106P::Write(), DynaServoGeneric::Write(), Write8(), DynaServo::WriteBaudRate(), DynaServoGeneric::WriteCtlMethodCompliance(), DynaServoGeneric::WriteCtlMethodPid(), DynaServoGeneric::WriteLed(), DynaServo::WriteServoId(), and DynaServoGeneric::WriteTorqueEnable().

virtual int DynaComm::Write8 ( int  nServoId, uint_t  uAddr, uint_t  uVal  )

inlinevirtual

Write an 8-bit value to Dynamixel servo control table.

Parameters

nServoId	Servo id.
uAddr	Servo control table address.
uVal	Value written.

Definition at line 263 of file DynaComm.h.

References Read16(), and Write8().

  {
    byte_t  val = (byte_t)uVal;

    return Write8(nServoId, uAddr, val);
  }

Member Data Documentation

const key_t DynaComm::ShmKey = 0x70add12a

staticprotected

shared memory key

Shared memory mutex key: roaddyna.

Definition at line 497 of file DynaComm.h.

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The documentation for this class was generated from the following files:

• include/Dynamixel/DynaComm.h
• libDynamixel/DynaComm.cxx