Dynamixel chain output command abstract base class. More...

#include <dynashell_cmd.h>

Inheritance diagram for DynaShellCmdChainOut:

Public Member Functions
	DynaShellCmdChainOut (bool bMasterOpOnly=false)
	Default constructor.

virtual	~DynaShellCmdChainOut ()
	Default destructor.

virtual void	Exec (DynaShell &shell, int argc, char *argv[])
	Execute 'write-like' command on servos. More...

virtual char *	TabCompletion (DynaShell &shell, const char sText, size_t uTextLen, int nState, const char sContext)
	Command tab completion generator. More...

Public Member Functions inherited from DynaShellCmd
	DynaShellCmd (int nArgCntMin=0, int nArgCntMax=0)
	Default constructor.

virtual	~DynaShellCmd ()
	Default destructor.

const char *	GetCmdName ()
	Get dynamixel shell command name. More...

const char *	GetCmdHelpBrief ()
	Get shell command name brief description. More...

virtual void	PrintHelp (int indent=0, int width=80)
	Print command help with the description aligned at the given indentation. More...

int	GetPublishedLevel () const

const char *	GetPublishedName () const

int	SetPublishedInfo (int nLevel, const char *sParent=NULL)

virtual bool	ChkArgCnt (DynaShell &shell, int argc)
	Check that the argument count is within the class (min,max). More...

bool	ChkArgCnt0 (DynaShell &shell, int argc)
	Check that the argument count is zero. More...

bool	ChkArgCntEQ (DynaShell &shell, int argc, int eq)
	Check that the argument count is equal to the required. More...

bool	ChkArgCntGE (DynaShell &shell, int argc, int min)
	Check argument count against minimum required. More...

bool	ChkArgCntLE (DynaShell &shell, int argc, int max)
	Check argument count against maximum allowed. More...

bool	ChkComm (DynaShell &shell)
	Check that Dynamixel communication exists and is open. More...

bool	ChkChain (DynaShell &shell)
	Check that the servo chain exists. More...

bool	ChkChainNotEmpty (DynaShell &shell)
	Check that the servo chain exists and is not empty. More...

bool	ChkChainHasServo (DynaShell &shell, int nServoId)
	Check that the given servo is present in the chain. More...

bool	ChkChainIsMasterServo (DynaShell &shell, int nServoId)
	Check that the given servo is a master. More...

bool	ToInt (DynaShell &shell, const char sArg, int pVal)
	Convert command argument to integer. More...

bool	ToUInt (DynaShell &shell, const char sArg, uint_t pVal)
	Convert command argument to unsigned integer. More...

bool	ToDouble (DynaShell &shell, const char sArg, double pVal)
	Convert command argument to double. More...

bool	ToBool (DynaShell &shell, const char sArg, bool pVal)
	Convert command argument to boolean. More...

Protected Member Functions
virtual void	doExec (DynaShell &shell, ExecTup_T tup[], uint_t uCount)=0
	Derived class specific execution function. More...

virtual bool	ArgToUInt (DynaShell &shell, const char sArg, uint_t pVal)
	Convert command argument into unsigned integer. More...

virtual bool	ArgToInt (DynaShell &shell, const char sArg, int pVal)

Protected Member Functions inherited from DynaShellCmd
virtual void	PrintSynopses (int indent, int width)
	Print synsopses. More...

virtual void	PrintBlock (int col, int indent, int width, const char *sText)
	Print a block of indented text of width. More...

virtual void	PrintDelim (int width, const char cDelim)

char *	eow (const char *s)
	Find end of word. More...

Protected Attributes
bool	m_bMasterOpOnly
	is [not] a master-only supported operation

int	m_nTabIter
	tab completion: servo id iterator

int	m_nTabServoId
	tab completion: current servo id

bool	m_bTabIncChain
	tab completion: [do not] include chain keyword

Protected Attributes inherited from DynaShellCmd
const char *	m_sCmdName
	command name

const char *	m_sCmdHelpBrief
	command help brief

const char *	m_sCmdHelpArgs
	command help arguments

const char *	m_sCmdHelpDesc
	command help description

const int	m_nArgCntMin
	minimum argument count

const int	m_nArgCntMax
	maximum argument count (0 if not max)

int	m_nPubLevel
	command's published level (depth)

char *	m_sPubName
	command's published name

Detailed Description

Dynamixel chain output command abstract base class.

This class supports parsing a 2-tuple list of (master) servos as arguments to a derived command class executinng servo 'write-like' output operations. Output operations include write, move, and set.

Syntax:

* CMD args
* args ::=
*      'chain' value
*    | tuple_list
*  tuple_list ::=
*      tuple
*    | tuple_list tuple
*  tuple ::=
*      servo_id value
*  servo_id ::= INT
*  value ::= VAL_TO_UINT
*

Definition at line 654 of file dynashell_cmd.h.

Member Function Documentation

virtual bool DynaShellCmdChainOut::ArgToUInt	(	DynaShell &	shell,
		const char *	sArg,
		uint_t *	pVal
	)

inlineprotectedvirtual

Convert command argument into unsigned integer.

Parameters

	shell	Dynamixel shell.
	sArg	String argument to convert.
[out]	pVal	Converted argument.

Returns: Returns true on success, false otherwise.

Definition at line 703 of file dynashell_cmd.h.

References PublishShellCoreCommands(), PublishShellInterfaceCommands(), PublishShellServoCommands(), and PublishShellTrainCommands().

   {
     return ToUInt(shell, sArg, pVal);
   }

virtual void DynaShellCmdChainOut::doExec	(	DynaShell &	shell,
		ExecTup_T	tup[],
		uint_t	uCount
	)

protectedpure virtual

Derived class specific execution function.

Parameters

shell	Dynamixel shell.
tup	Array of (servo id, value) 2-tuples.
uCount	Number of tuples.

Implemented in DynaShellCmdWriteGoalSpeed, DynaShellCmdWriteTorqueEnable, DynaShellCmdCfgWriteServoMode, and DynaShellCmdMoveTo.

void DynaShellCmdChainOut::Exec	(	DynaShell &	shell,
		int	argc,
		char *	argv[]
	)

virtual

Execute 'write-like' command on servos.

Parameters

shell	Dynamixel shell.
argc	Command argument count.
argv	Array of arguments.

Implements DynaShellCmd.

Definition at line 450 of file dynashell_cmd.cxx.

References DYNA_ID_NONE, DYNA_ID_NUMOF, DynaShell::Error(), DynaChain::IterNext(), DynaChain::IterNextMaster(), DynaChain::IterStart(), DynaChain::IterStartMaster(), ExecTup_T::m_nServoId, ExecTup_T::m_nVal, DynaShell::m_pDynaChain, and TRY.

 {
   uint_t      uNumPairs;
   ExecTup_T   tup[DYNA_ID_NUMOF];
   int         nServoId;
   int         nVal;
   int         iter;
   int         cnt;
 
   TRY( ChkArgCnt(shell, argc) );
 
   if( (argc % 2) != 0 )
   {
     shell.Error("Unmatched servo_id,value pairs.");
     return;
   }
 
   uNumPairs = (uint_t)(argc / 2);
 
   if( uNumPairs > DYNA_ID_NUMOF )
   {
     shell.Error("%u: Too many servo_id,value pairs.", uNumPairs);
     return;
   }
 
   TRY( ChkComm(shell) );
   TRY( ChkChainNotEmpty(shell) );
 
   // full chain of servos
   if( !strcmp(argv[0], "chain") )
   {
     TRY( ChkArgCntEQ(shell, argc, 2) );
     TRY( ArgToInt(shell, argv[1], &nVal) );
 
     if( m_bMasterOpOnly )
     {
       for(nServoId = shell.m_pDynaChain->IterStartMaster(&iter), cnt=0;
           nServoId != DYNA_ID_NONE;
           nServoId = shell.m_pDynaChain->IterNextMaster(&iter), ++cnt)
       {
         tup[cnt].m_nServoId = nServoId;
         tup[cnt].m_nVal     = nVal;
       }
     }
     else
     {
       for(nServoId = shell.m_pDynaChain->IterStart(&iter), cnt=0;
           nServoId != DYNA_ID_NONE;
           nServoId = shell.m_pDynaChain->IterNext(&iter), ++cnt)
       {
         tup[cnt].m_nServoId = nServoId;
         tup[cnt].m_nVal     = nVal;
       }
     }
 
     uNumPairs = (uint_t)cnt;
   }
 
   // list of servos
   else
   {
     for(iter=0, cnt=0; iter<argc; iter+=2, ++cnt)
     {
       TRY( ToInt(shell, argv[iter], &nServoId) );
       TRY( ArgToInt(shell, argv[iter+1], &nVal) );
       TRY( ChkChainHasServo(shell, nServoId) );
       TRY( !m_bMasterOpOnly || ChkChainIsMasterServo(shell, nServoId) );
 
       tup[cnt].m_nServoId = nServoId;
       tup[cnt].m_nVal     = nVal;
     } 
   }
 
   doExec(shell, tup, uNumPairs);
 }

char * DynaShellCmdChainOut::TabCompletion	(	DynaShell &	shell,
		const char *	sText,
		size_t	uTextLen,
		int	nState,
		const char *	sContext
	)

virtual

Command tab completion generator.

Completes <servo_id> | chain NULL [servo_id NULL [servo_id NULL ...]]

Parameters

shell	Dynamixel shell.
sText	Partial text string to complete.
uTextLen	Length of text.
nState	Generator state. If FIRST, then initialize any statics.
sContext	Generator context (i.e. canonical command path).

Returns: If a first/next match is made, return allocated completed match.
Otherwise return NULL.

Reimplemented from DynaShellCmd.

Definition at line 541 of file dynashell_cmd.cxx.

References ReadLine::dupstr(), DYNA_ID_NONE, ReadLine::FIRST, DynaChain::GetNumberInChain(), DynaChain::GetNumberOfMastersInChain(), DynaChain::IterNext(), DynaChain::IterNextMaster(), DynaChain::IterStart(), DynaChain::IterStartMaster(), DynaShell::m_pDynaChain, and ReadLine::wc().

 {
   char  buf[16];
   int   nArgNum;
 
   if( (shell.m_pDynaChain == NULL) ||
       (shell.m_pDynaChain->GetNumberInChain() == 0) )
   {
     return NULL;
   }
 
   else if( m_bMasterOpOnly && 
           (shell.m_pDynaChain->GetNumberOfMastersInChain() == 0) )
   {
     return NULL;
   }
 
   // argument number of already (expanded) arguments
   nArgNum = ReadLine::wc(sContext) - ReadLine::wc(m_sPubName);
 
   // every odd argument is the servo value, which cannot be expanded
   if( nArgNum & 0x01 )
   {
     return NULL;
   }
 
   //
   // New command to complete - initialize.
   //
   if( nState == ReadLine::FIRST )
   {
     if( m_bMasterOpOnly )
     {
       m_nTabServoId = shell.m_pDynaChain->IterStartMaster(&m_nTabIter);
     }
     else
     {
       m_nTabServoId = shell.m_pDynaChain->IterStart(&m_nTabIter);
     }
 
     if( nArgNum == 0 )
     {
       m_bTabIncChain = true;
     }
     else
     {
       m_bTabIncChain = false;
     }
   }
 
   while( m_nTabServoId != DYNA_ID_NONE )
   {
     snprintf(buf, sizeof(buf), "%d", m_nTabServoId);
     buf[sizeof(buf)-1] = 0;
 
     if( m_bMasterOpOnly )
     {
       m_nTabServoId = shell.m_pDynaChain->IterNextMaster(&m_nTabIter);
     }
     else
     {
       m_nTabServoId = shell.m_pDynaChain->IterNext(&m_nTabIter);
     }
 
     if( !strncmp(buf, sText, uTextLen) )
     {
       return ReadLine::dupstr(buf);
     }
   }
 
   if( m_bTabIncChain )
   {
     m_bTabIncChain = false;
     if( !strncmp("chain", sText, uTextLen) )
     {
       return ReadLine::dupstr("chain");
     }
   }
 
   // no more matches
   return NULL;
 }

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

dynashell/dynashell_cmd.h
dynashell/dynashell_cmd.cxx

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation