BotSense IP Proxied Dynamixel Bus Communications Class. More...

#include <DynaCommBotSense.h>

Inheritance diagram for DynaCommBotSense:

Public Member Functions
	DynaCommBotSense ()
	Default constructor.

	DynaCommBotSense (const char sSerialDevName, int nBaudRate, const char sBsProxyHostName=BSPROXY_URI_HOSTNAME_DFT, int nBsProxyIPPort=BSPROXY_LISTEN_PORT_DFT)
	Initialization constructor. More...

virtual	~DynaCommBotSense ()
	Destructor.

const char *	GetSerialDeviceName ()
	Get the Dynamixel Bus serial device name. More...

const char *	GetProxyServerHostName ()
	Get the BotSense proxy server host name. More...

const int	GetProxyServerPort () const
	Get the BotSense proxy server port. More...

const BsClient_P	GetProxyClient () const
	Get this BotSense proxy client. More...

virtual int	GetResourceId () const
	Get System-unique resource identifier. More...

virtual int	Open (const char *sSerialDevName, int nBaudRate)
	Open serial communication to dynamixel bus. More...

virtual int	Open (const char sSerialDevName, int nBaudRate, const char sBsProxyHostName=BSPROXY_URI_HOSTNAME_DFT, int nBsProxyIPPort=BSPROXY_LISTEN_PORT_DFT)
	Open serial communication to dynamixel bus. More...

virtual int	Open ()
	(Re)Open serial communication to dynamixel bus. More...

virtual int	Close ()
	Close serial communication to dynamixel bus and connection to BotSense proxy server. More...

virtual int	SetBaudRate (int nNewBaudRate)

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

virtual int	SetMsgTracing (bool bEnabled)

virtual int	Read8 (int nServoId, uint_t uAddr, byte_t *pVal)
	Read an 8-bit value from Dynamixel servo control table. More...

virtual int	Write8 (int nServoId, uint_t uAddr, byte_t byVal)
	Write an 8-bit value to Dynamixel servo control table. More...

virtual int	Read16 (int nServoId, uint_t uAddr, ushort_t *pVal)
	Read a 16-bit value from Dynamixel servo control table. More...

virtual int	Write16 (int nServoId, uint_t uAddr, ushort_t uhVal)
	Write a 16-bit value to Dynamixel servo control table. More...

virtual int	SyncWrite (uint_t uAddr, uint_t uValSize, DynaSyncWriteTuple_T tuples[], uint_t uCount)
	Synchronous Write 8/16-bit values to a list of Dynamixel servos. More...

virtual bool	Ping (int nServoId)
	Ping the servo. More...

virtual int	Reset (int nServoId)
	Reset a servo back to default values. More...

Public Member Functions inherited from DynaComm
	DynaComm ()

	DynaComm (const char *sUri, int nBaudRate)

virtual	~DynaComm ()
	Destructor.

const char *	GetDeviceUri () const

const int	GetBaudRate () const

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, uint_t uVal)
	Write an 8-bit value to 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, 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 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...

Protected Attributes
char *	m_sSerialDevName
	proxied serial device name

char *	m_sBsProxyHostName
	BotSense proxy server domain/IP address.

int	m_nBsProxyIPPort
	BotSense proxy server IP port number.

BsClient_P	m_pBsClient
	BotSense client.

BsVConnHnd_T	m_hndBsVConn
	virtual connection to proxied device

bool	m_bBsTrace
	do [not] trace messaging

Protected Attributes inherited from DynaComm
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

Additional Inherited Members
Public Types inherited from DynaComm
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.

Static Public Member Functions inherited from DynaComm
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...

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

Detailed Description

BotSense IP Proxied Dynamixel Bus Communications Class.

The host with the direct serial connection acts as the bsProxy server.

Definition at line 77 of file DynaCommBotSense.h.

Constructor & Destructor Documentation

DynaCommBotSense::DynaCommBotSense	(	const char *	sSerialDevName,
		int	nBaudRate,
		const char *	sBsProxyHostName = `BSPROXY_URI_HOSTNAME_DFT`,
		int	nBsProxyIPPort = `BSPROXY_LISTEN_PORT_DFT`
	)

Initialization constructor.

The given proxied serial device is opened at the baud rate on the host of the given BotSense proxy server.

Parameters

sSerialDevName	Proxied serial device name.
nBaudRate	Proxied serial device baud rate.
sBsProxyHostName	BotSense proxy server host name (domain name or IP address).
nBsProxyIPPort	BotSense proxy server IP port number.

Definition at line 89 of file DynaCommBotSense.cxx.

References m_bBsTrace, m_hndBsVConn, DynaComm::m_nBaudRate, m_nBsProxyIPPort, m_pBsClient, m_sBsProxyHostName, DynaComm::m_sDevUri, m_sSerialDevName, newstr(), and Open().

                                                                : DynaComm()
 {
   Uri_T uri;
 
   // fill in URI structure
   uri.m_sScheme   = (char *)BSPROXY_URI_SCHEME;
   uri.m_sUserInfo = NULL;
   uri.m_sHostName = (char *)sBsProxyHostName;
   uri.m_nPortNum  = nBsProxyIPPort;
   uri.m_sPath     = (char *)sSerialDevName;
   uri.m_sQuery    = NULL;
 
   m_sDevUri           = UriStrNew(&uri);
   m_nBaudRate         = nBaudRate;
 
   m_sSerialDevName    = newstr(sSerialDevName);
   m_sBsProxyHostName  = newstr(sBsProxyHostName);
   m_nBsProxyIPPort    = nBsProxyIPPort;
   m_pBsClient         = bsClientNew("Dynamixel");
   m_hndBsVConn        = BSPROXY_VCONN_UNDEF;
   m_bBsTrace          = false;
 
   Open();
 }

Member Function Documentation

int DynaCommBotSense::Close ( )

virtual

Close serial communication to dynamixel bus and connection to BotSense proxy server.

Implements DynaComm.

Definition at line 219 of file DynaCommBotSense.cxx.

References DYNA_OK, DynaComm::m_bIsOpen, m_hndBsVConn, and m_pBsClient.

Referenced by Open(), and ~DynaCommBotSense().

 {
   if( m_bIsOpen )
   {
     bsDynaClose(m_pBsClient, m_hndBsVConn);
     bsServerDisconnect(m_pBsClient);
     m_hndBsVConn = BSPROXY_VCONN_UNDEF;
     m_bIsOpen    = false;
   }
   return DYNA_OK;
 }

const BsClient_P DynaCommBotSense::GetProxyClient ( ) const

inline

Get this BotSense proxy client.

Returns: Returns port number.

Definition at line 142 of file DynaCommBotSense.h.

References m_pBsClient.

   {
     return m_pBsClient;
   }

const char* DynaCommBotSense::GetProxyServerHostName ( )

inline

Get the BotSense proxy server host name.

Returns: Returns name.

Definition at line 122 of file DynaCommBotSense.h.

References m_sBsProxyHostName.

   {
     return m_sBsProxyHostName;
   }

const int DynaCommBotSense::GetProxyServerPort ( ) const

inline

Get the BotSense proxy server port.

Returns: Returns port number.

Definition at line 132 of file DynaCommBotSense.h.

References m_nBsProxyIPPort.

   {
     return m_nBsProxyIPPort;
   }

virtual int DynaCommBotSense::GetResourceId ( ) const

inlinevirtual

Get System-unique resource identifier.

Returns: Resource id.

Implements DynaComm.

Definition at line 152 of file DynaCommBotSense.h.

References m_hndBsVConn.

   {
     return (int)m_hndBsVConn;
   }

const char* DynaCommBotSense::GetSerialDeviceName ( )

inline

Get the Dynamixel Bus serial device name.

Returns: Returns name.

Definition at line 112 of file DynaCommBotSense.h.

References m_sSerialDevName.

   {
     return m_sSerialDevName;
   }

virtual int DynaCommBotSense::Open	(	const char *	sSerialDevName,
		int	nBaudRate
	)

inlinevirtual

Open serial communication to dynamixel bus.

The given proxied serial device is opened at the baud rate on the local host with default port number.

Parameters

sSerialDevName	Proxied serial device name.
nBaudRate	Proxied serial device baud rate.

Implements DynaComm.

Definition at line 168 of file DynaCommBotSense.h.

References Close(), DynaCommBotSense(), Open(), Ping(), Read16(), Read8(), Reset(), SetBaudRate(), SetHalfDuplexCtl(), SetMsgTracing(), SyncWrite(), Write16(), and Write8().

   {
     DynaCommBotSense(sSerialDevName, nBaudRate, BSPROXY_URI_HOSTNAME_DFT,
                     BSPROXY_LISTEN_PORT_DFT);
   }

int DynaCommBotSense::Open	(	const char *	sSerialDevName,
		int	nBaudRate,
		const char *	sBsProxyHostName = `BSPROXY_URI_HOSTNAME_DFT`,
		int	nBsProxyIPPort = `BSPROXY_LISTEN_PORT_DFT`
	)

virtual

Open serial communication to dynamixel bus.

The given proxied serial device is opened at the baud rate on the host of the given BotSense proxy server.

Parameters

sSerialDevName	Proxied serial device name.
nBaudRate	Proxied serial device baud rate.
sBsProxyHostName	BotSense proxy server host name (domain name or IP address).
sBsProxyHostName	BotSense proxy server host.
nBsProxyIPPort	BotSense proxy server IP port number.

Definition at line 134 of file DynaCommBotSense.cxx.

References Close(), m_hndBsVConn, DynaComm::m_nBaudRate, m_nBsProxyIPPort, m_sBsProxyHostName, m_sSerialDevName, newstr(), and Open().

 {
   // close if open
   Close();
 
   if( m_sSerialDevName != NULL )
   {
     delete[] m_sSerialDevName;
   }
 
   if( m_sBsProxyHostName != NULL )
   {
     delete[] m_sBsProxyHostName;
   }
 
   m_sSerialDevName    = newstr(sSerialDevName);
   m_nBaudRate         = nBaudRate;
   m_sBsProxyHostName  = newstr(sBsProxyHostName);
   m_nBsProxyIPPort    = nBsProxyIPPort;
   m_hndBsVConn        = BSPROXY_VCONN_UNDEF;
 
   // (re)open
   return Open();
 }

int DynaCommBotSense::Open ( )

virtual

(Re)Open serial communication to dynamixel bus.

Implements DynaComm.

Definition at line 162 of file DynaCommBotSense.cxx.

References Close(), DYNA_ECODE_BAD_VAL, DYNA_ECODE_BOTSENSE, DYNA_LOG_ERROR, DYNA_OK, m_bBsTrace, DynaComm::m_bIsOpen, m_hndBsVConn, DynaComm::m_nBaudRate, m_nBsProxyIPPort, m_pBsClient, m_sBsProxyHostName, and m_sSerialDevName.

Referenced by DynaCommBotSense(), and Open().

 {
   int nSerialIndex;
   int nBaudNum;
   int rc;
 
   // close if open
   Close();
 
   // check proxied serial device name
   if( (m_sSerialDevName == NULL) || (*m_sSerialDevName == 0) )
   {
     rc = -DYNA_ECODE_BAD_VAL;
     DYNA_LOG_ERROR(rc, "Unspecified serial device.");
   }
 
   // check proxy server host name
   else if( (m_sBsProxyHostName == NULL) || (*m_sBsProxyHostName == 0) )
   {
     rc = -DYNA_ECODE_BOTSENSE;
     DYNA_LOG_ERROR(rc, "Unspecified BotSense server host name.");
   }
 
   // connect to bsProxy server
   else if((rc = 
         bsServerConnect(m_pBsClient, m_sBsProxyHostName, m_nBsProxyIPPort)) < 0)
   {
     LOGERROR("bsProxy server %s:%d: %s.",
         m_sBsProxyHostName, m_nBsProxyIPPort, bsStrError(rc));
     rc = -DYNA_ECODE_BOTSENSE;
   }
 
   // open proxied serial device
   else if( (m_hndBsVConn = bsDynaOpen(m_pBsClient,
                                       m_sSerialDevName,
                                       m_nBaudRate,
                                       m_bBsTrace)) < 0 )
   {
     rc = m_hndBsVConn;
     m_hndBsVConn = BSPROXY_VCONN_UNDEF;
     DYNA_LOG_ERROR(rc, "Failed to open %s@%d on bsProxy server %s:%d.",
         m_sSerialDevName, m_nBaudRate, m_sBsProxyHostName, m_nBsProxyIPPort);
   }
 
   // success
   else
   {
     m_bIsOpen = true;
     rc = DYNA_OK;
     LOGDIAG3("Dynamixel bus communication opened on %s@%d "
             "via bsProxy server %s:%d.",
         m_sSerialDevName, m_nBaudRate, m_sBsProxyHostName, m_nBsProxyIPPort);
   }
 
   return rc;
 }

bool DynaCommBotSense::Ping ( int nServoId )

virtual

Ping the servo.

Parameters

nServoId Servo id.

Returns: Returns true if the servo responded, else false.

Implements DynaComm.

Definition at line 405 of file DynaCommBotSense.cxx.

References DYNA_ECODE_BOTSENSE, DYNA_LOG_ERROR, DYNA_TRY_COMM, m_hndBsVConn, DynaComm::m_mutexComm, and m_pBsClient.

Referenced by Open().

 {
   bool_t  bPong;
   int     rc;
 
   DYNA_TRY_COMM(*this);
 
   shm_mutex_lock(&m_mutexComm);
 
   rc = bsDynaPing(m_pBsClient, m_hndBsVConn, nServoId, &bPong);
 
   shm_mutex_unlock(&m_mutexComm);
 
   if( rc == BS_OK )
   {
     return bPong? true: false;
   }
   else
   {
     rc = -DYNA_ECODE_BOTSENSE;
     DYNA_LOG_ERROR(rc, "Ping(%d)", nServoId);
     return false;
   }
 }

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

virtual

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

Parameters

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

Implements DynaComm.

Definition at line 323 of file DynaCommBotSense.cxx.

References DYNA_ECODE_BOTSENSE, DYNA_LOG_ERROR, DYNA_OK, DYNA_TRY_COMM, m_hndBsVConn, DynaComm::m_mutexComm, m_pBsClient, and DynaComm::m_uAlarms.

Referenced by Open().

 {
   int   rc;
 
   DYNA_TRY_COMM(*this);
 
   shm_mutex_lock(&m_mutexComm);
 
   rc = bsDynaRead16(m_pBsClient, m_hndBsVConn,
                         nServoId, uAddr, pVal, &m_uAlarms);
 
   shm_mutex_unlock(&m_mutexComm);
 
   if( rc == BS_OK )
   {
     rc = DYNA_OK;
   }
   else
   {
     rc = -DYNA_ECODE_BOTSENSE;
     DYNA_LOG_ERROR(rc, "Read16(%d, 0x%02x)", nServoId, uAddr);
   }
 
   return rc;
 }

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

virtual

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

Parameters

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

Implements DynaComm.

Definition at line 271 of file DynaCommBotSense.cxx.

References DYNA_ECODE_BOTSENSE, DYNA_LOG_ERROR, DYNA_OK, DYNA_TRY_COMM, m_hndBsVConn, DynaComm::m_mutexComm, m_pBsClient, and DynaComm::m_uAlarms.

Referenced by Open().

 {
   int     rc;
 
   DYNA_TRY_COMM(*this);
 
   shm_mutex_lock(&m_mutexComm);
 
   rc = bsDynaRead8(m_pBsClient, m_hndBsVConn,
                     nServoId, uAddr, pVal, &m_uAlarms);
 
   shm_mutex_unlock(&m_mutexComm);
 
   if( rc == BS_OK )
   {
     rc = DYNA_OK;
   }
   else
   {
     rc = -DYNA_ECODE_BOTSENSE;
     DYNA_LOG_ERROR(rc, "Read8(%d, 0x%02x)", nServoId, uAddr);
   }
 
   return rc;
 }

int DynaCommBotSense::Reset ( int nServoId )

virtual

Reset a servo back to default values.

Warning: All configuration is lost.

Parameters

nServoId Servo id.

Implements DynaComm.

Definition at line 430 of file DynaCommBotSense.cxx.

References DYNA_ECODE_BOTSENSE, DYNA_LOG_ERROR, DYNA_OK, DYNA_TRY_COMM, m_hndBsVConn, DynaComm::m_mutexComm, and m_pBsClient.

Referenced by Open().

 {
   int rc;
 
   DYNA_TRY_COMM(*this);
 
   shm_mutex_lock(&m_mutexComm);
 
   rc = bsDynaReset(m_pBsClient, m_hndBsVConn, nServoId);
 
   shm_mutex_unlock(&m_mutexComm);
   
   if( rc == BS_OK )
   {
     rc = DYNA_OK;
   }
   else
   {
     rc = -DYNA_ECODE_BOTSENSE;
     DYNA_LOG_ERROR(rc, "Reset(%d)", nServoId);
   }
 
   return rc;
 }

int DynaCommBotSense::SetBaudRate ( int nNewBaudRate )

virtual

Set the Dynamixel Bus new baud rate.

Parameters

nNewBaudRate New baudrate.

Returns: On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Implements DynaComm.

Definition at line 231 of file DynaCommBotSense.cxx.

References DYNA_OK, DYNA_TRY_RC, DynaComm::m_bIsOpen, m_hndBsVConn, DynaComm::m_nBaudRate, and m_pBsClient.

Referenced by Open().

 {
   int   rc;   // return code
 
   if( m_bIsOpen )
   {
     rc = bsDynaSetBaudRate(m_pBsClient, m_hndBsVConn, nNewBaudRate);
 
     DYNA_TRY_RC(rc, "SetBaudRate(%d)", nNewBaudRate);
   }
 
   m_nBaudRate = nNewBaudRate;
 
   return DYNA_OK;
 }

int DynaCommBotSense::SetHalfDuplexCtl	(	int	nSignal,
		HalfDuplexTxFunc_T	fnEnableTx = `NULL`,
		HalfDuplexRxFunc_T	fnEnableRx = `NULL`
	)

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.

Returns: On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Implements DynaComm.

Definition at line 247 of file DynaCommBotSense.cxx.

References DYNA_OK, DYNA_TRY_RC, DynaComm::m_bIsOpen, m_hndBsVConn, and m_pBsClient.

Referenced by Open().

 {
   int   rc;   // return code
 
   if( m_bIsOpen )
   {
     // Note: do not know how got generalize this for non-builtin signal support.
     rc = bsDynaSetHalfDuplexCtl(m_pBsClient, m_hndBsVConn, nSignal);
 
     DYNA_TRY_RC(rc, "SetHalfDuplexCtl(%d)", nSignal);
   }
 
   return DYNA_OK;
 }

int DynaCommBotSense::SetMsgTracing ( bool bEnabled )

virtual

Enable/disable botsense message tracing.

Parameters

bEnable Enable [disable].

Returns: On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Definition at line 264 of file DynaCommBotSense.cxx.

References DYNA_OK, and m_bBsTrace.

Referenced by Open().

 {
   m_bBsTrace = bEnabled;
 
   return DYNA_OK;
 }

int DynaCommBotSense::SyncWrite	(	uint_t	uAddr,
		uint_t	uValSize,
		DynaSyncWriteTuple_T	tuples[],
		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 at addtess. 1 or 2 bytes.
tuples	Array of servo id, write value tuples.
uCount	Number of tuples.

Implements DynaComm.

Definition at line 375 of file DynaCommBotSense.cxx.

References DYNA_ECODE_BOTSENSE, DYNA_LOG_ERROR, DYNA_OK, DYNA_TRY_COMM, m_hndBsVConn, DynaComm::m_mutexComm, and m_pBsClient.

Referenced by Open().

 {
   int rc;
 
   DYNA_TRY_COMM(*this);
 
   shm_mutex_lock(&m_mutexComm);
 
   rc = bsDynaSyncWrite(m_pBsClient, m_hndBsVConn,
                           uAddr, uValSize, tuples, uCount);
 
   shm_mutex_unlock(&m_mutexComm);
   
   if( rc == BS_OK )
   {
     rc = DYNA_OK;
   }
   else
   {
     rc = -DYNA_ECODE_BOTSENSE;
     DYNA_LOG_ERROR(rc, "SyncWrite(0x%02x, %d, tuples, %d)",
         uAddr, uValSize, uCount);
   }
 
   return rc;
 }

int DynaCommBotSense::Write16	(	int	nServoId,
		uint_t	uAddr,
		ushort_t	uhVal
	)

virtual

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

Parameters

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

Implements DynaComm.

Definition at line 349 of file DynaCommBotSense.cxx.

References DYNA_ECODE_BOTSENSE, DYNA_LOG_ERROR, DYNA_OK, DYNA_TRY_COMM, m_hndBsVConn, DynaComm::m_mutexComm, m_pBsClient, and DynaComm::m_uAlarms.

Referenced by Open().

 {
   int   rc;
 
   DYNA_TRY_COMM(*this);
 
   shm_mutex_lock(&m_mutexComm);
 
   rc = bsDynaWrite16(m_pBsClient, m_hndBsVConn,
                         nServoId, uAddr, huVal, &m_uAlarms);
 
   shm_mutex_unlock(&m_mutexComm);
 
   if( rc == BS_OK )
   {
     rc = DYNA_OK;
   }
   else
   {
     rc = -DYNA_ECODE_BOTSENSE;
     DYNA_LOG_ERROR(rc, "Write16(%d, 0x%02x, 0x%04x)", nServoId, uAddr, huVal);
   }
 
   return rc;
 }

int DynaCommBotSense::Write8	(	int	nServoId,
		uint_t	uAddr,
		byte_t	byVal
	)

virtual

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

Parameters

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

Implements DynaComm.

Definition at line 297 of file DynaCommBotSense.cxx.

References DYNA_ECODE_BOTSENSE, DYNA_LOG_ERROR, DYNA_OK, DYNA_TRY_COMM, m_hndBsVConn, DynaComm::m_mutexComm, m_pBsClient, and DynaComm::m_uAlarms.

Referenced by Open().

 {
   int   rc;
 
   DYNA_TRY_COMM(*this);
 
   shm_mutex_lock(&m_mutexComm);
 
   rc = bsDynaWrite8(m_pBsClient, m_hndBsVConn,
                     nServoId, uAddr, byVal, &m_uAlarms);
 
   shm_mutex_unlock(&m_mutexComm);
   
   if( rc == BS_OK )
   {
     rc = DYNA_OK;
   }
   else
   {
     rc = -DYNA_ECODE_BOTSENSE;
     DYNA_LOG_ERROR(rc, "Write8(%d, 0x%02x, 0x%02x)", nServoId, uAddr, byVal);
   }
 
   return rc;
 }

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

include/Dynamixel/DynaCommBotSense.h
libDynamixel/DynaCommBotSense.cxx

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