Record dynamixel chain movements. More...

Inheritance diagram for DynaShellCmdPlay:

Public Member Functions
	DynaShellCmdPlay ()
	Default constructor.

virtual	~DynaShellCmdPlay ()
	Default destructor.

virtual void	Exec (DynaShell &shell, int argc, char *argv[])
	Execute playback of recording. 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 Types
typedef vector< vector< uint_t > >	VecCurves

Protected Member Functions
void	Play (DynaShell &shell)
	Play back the previously recorded Dynamixel chain motion sequence. More...

int	SetRecordGoals (DynaShell &shell, int nRecNum)
	Set record goals. More...

int	ControlToGoals (DynaShell &shell, int nRecNum, double dt)
	Control the servos speed to reach the goal positions, hopefully at the end of the sampled period and with the sampled speed. More...

void	Init (DynaShell &shell)

void	SmoothRecordingCurves (DynaShell &shell)

void	BSplineCurve (DynaShell &shell, int nFldNum)

void	PidInit (DynaShell &shell)
	Initialize servo PIDs. More...

int	PidSetPoint (DynaShell &shell, int nServoId, int nGoalPos, int nGoalSpeed)
	Specify (new) PID goal position setpoint. More...

void	Cleanup (DynaShell &shell)
	Clean up any allocated playback resources. More...

bool	MoveToStart (DynaShell &shell)

void	SecureArm (DynaShell &shell)
	Secure arm in safe postition if posible. More...

void	PlotInit (DynaShell &shell)
	Initialize plot data output. More...

void	PlotWriteData (DynaShell &shell, int nRecNum, double dt, int nServoId, int nCurPos)
	Write plot data to plot file. More...

void	WaitStop (DynaShell &shell)
	Wait until all servos in chain have stopped moving utility function. More...

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
int	m_nNumSubSamplePts
	sub-sample playback control period (msec)

double	m_fSpeedPct
	playback speed as a % of recorded speed

double	m_fSamplePeriod
	playback sample period (seconds)

double	m_fSubSamplePeriod
	control sub-sample period (seconds)

double	m_dt
	playback delta time (seconds)

VecCurves	m_vecCurves
	vector of fitted smooth curves

double	m_fTAccum
	accumulated time

FILE *	m_fpPlot
	plot data file pointer

int	m_nPlotLineCnt
	plotted data line count

int	m_nTabIndex
	tab completion: keyword index

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

Record dynamixel chain movements.

Definition at line 1496 of file dynashell_cmd_train.cxx.

Member Function Documentation

void DynaShellCmdPlay::Cleanup ( DynaShell & shell )

inlineprotected

Clean up any allocated playback resources.

Parameters

shell Dynamixel shell.

Definition at line 2123 of file dynashell_cmd_train.cxx.

   {
     if( m_fpPlot != NULL )
     {
       fclose(m_fpPlot);
       m_fpPlot = NULL;
     }
 
     m_vecCurves.clear();
   }

int DynaShellCmdPlay::ControlToGoals	(	DynaShell &	shell,
		int	nRecNum,
		double	dt
	)

inlineprotected

Control the servos speed to reach the goal positions, hopefully at the end of the sampled period and with the sampled speed.

Parameters

shell	Dynamixel shell.
nRecNum	Record number in the recording.
dt	Delta time (seconds).

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

Definition at line 1861 of file dynashell_cmd_train.cxx.

References DYNA_ID_NUMOF, DYNA_OK, DynaStrError(), DynaRecording::END, DynaRecording::FirstField(), DynaRecording::GetNumOfRecords(), DynaRecording::GetSamplePeriod(), DynaChain::GetServo(), DynaRecording::GetServoId(), DynaSpeedTuple_T::m_nServoId, DynaSpeedTuple_T::m_nSpeed, DynaShell::m_pDynaChain, DynaShell::m_pRecording, DynaRecording::NextField(), and DynaChain::SyncWriteGoalSpeed().

   {
     int               nFldNum;
     int               nServoId;
     DynaServo        *pServo;
     int               nCurPos;
     int               nCurSpeed;
     int               nGoalSpeed;
     DynaSpeedTuple_T  tupSpeed[DYNA_ID_NUMOF];
     uint_t            uCount;
     int               rc;
   
     printf("  speed_%d: ", nRecNum);
   
     //
     // Determine new speed goals and set.
     //
     for(nFldNum = shell.m_pRecording->FirstField(nRecNum), uCount=0;
         nFldNum != DynaRecording::END;
         nFldNum = shell.m_pRecording->NextField(nRecNum, nFldNum), ++uCount)
     {
       nServoId = shell.m_pRecording->GetServoId(nFldNum);
   
       pServo = shell.m_pDynaChain->GetServo(nServoId);
 
       // read current servo position
       rc = pServo->ReadCurPos(&nCurPos);
   
       if( rc != DYNA_OK )
       {
         printf("Error: Servo %d: ReadCurPos: %s\n", nServoId, DynaStrError(rc));
         return rc;
       }
   
       // read current speed
       rc = pServo->ReadCurSpeed(&nCurSpeed);
   
       if( rc != DYNA_OK )
       {
         printf("Error: Servo %d: ReadCurSpeed: %s\n", nServoId,
             DynaStrError(rc));
         return rc;
       }
   
       // pid control
       nGoalSpeed = pServo->GetSpeedPid().Control(nCurSpeed, dt);
 
       tupSpeed[nFldNum].m_nServoId = nServoId;
       tupSpeed[nFldNum].m_nSpeed   = nGoalSpeed;
   
       if( m_fpPlot != NULL )
       {
         PlotWriteData(shell, nRecNum, dt, nServoId, nCurPos);
       }
 
       printf("%d %d   ", nServoId, nGoalSpeed);
     }
   
     printf("\n");
   
     //
     // Synchronously write new goal speeds.
     //
     rc = shell.m_pDynaChain->SyncWriteGoalSpeed(tupSpeed, uCount);
   
     if( rc != DYNA_OK )
     {
       printf("Error: Servo %d: SyncWriteGoalSpeed: %s\n",
               nServoId, DynaStrError(rc));
       return rc;
     }
   
     return DYNA_OK;
   }

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

inlinevirtual

Execute playback of recording.

Parameters

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

Implements DynaShellCmd.

Definition at line 1537 of file dynashell_cmd_train.cxx.

References DYNA_ID_NONE, DynaShell::Error(), DynaServo::GetModelNumber(), DynaChain::GetNumberOfMastersInChain(), DynaRecording::GetNumOfRecords(), DynaRecording::GetNumOfServosInRecording(), DynaChain::GetServo(), DynaRecording::GetServoModelNumber(), DynaRecording::HasServo(), DynaChain::IterNextMaster(), DynaChain::IterStartMaster(), DynaShell::m_pDynaChain, DynaShell::m_pRecording, and TRY.

   {
     DynaRecording  *pRecording = shell.m_pRecording;
     int             i;
     char           *sPlotFileName;
     int             iter;
     int             nServoId;
     DynaServo      *pServo;
 
     //
     // Check and parse command-line arguments.
     //
     TRY( ChkArgCnt(shell, argc) );
 
     // Is there a recording?
     if( (pRecording == NULL) || (pRecording->GetNumOfRecords() == 0) )
     {
       shell.Error("No recording to play.");
       return;
     }
 
     // defaults
     m_fSpeedPct     = 100.0;
     sPlotFileName   = NULL;
     m_fpPlot        = NULL;
 
     // RDK loop option
     //
     // Parse arguments
     //
     for(i=0; i<argc; ++i)
     {
       switch( i )
       {
         // sub-sample points
         case 0:
           TRY( ToInt(shell, argv[i], &m_nNumSubSamplePts) );
           // sub-sample period too big - adjust
           if( m_nNumSubSamplePts < 1 )
           {
             m_nNumSubSamplePts = 1;
           }
           break;
         // playback speed (optional)
         case 1:
           TRY( ToDouble(shell, argv[i], &m_fSpeedPct) );
           if( m_fSpeedPct < 0.0 )
           {
             m_fSpeedPct = 100.0;
           }
           break;
         case 2:
           // create gnuplot file (optional)
           sPlotFileName = argv[i];
           break;
         default:
           shell.Error("Huh?");
           break;
       }
     }
 
     //
     // Validate recording against chain.
     //
 
     // Does the recording have the same number of servos?
     if( pRecording->GetNumOfServosInRecording() != 
         shell.m_pDynaChain->GetNumberOfMastersInChain() )
     {
       shell.Error("%d servos in recording != %d master servos in chain.", 
         pRecording->GetNumOfServosInRecording(),
         shell.m_pDynaChain->GetNumberOfMastersInChain());
       return;
     }
 
     // Do the servos match in id and model number?
     for(nServoId = shell.m_pDynaChain->IterStartMaster(&iter);
         nServoId != DYNA_ID_NONE;
         nServoId = shell.m_pDynaChain->IterNextMaster(&iter))
     {
       if( !pRecording->HasServo(nServoId) )
       {
         shell.Error("Servo %d: Not in recording.");
         return;
       }
 
       pServo = shell.m_pDynaChain->GetServo(nServoId);
 
       if(pRecording->GetServoModelNumber(nServoId) != pServo->GetModelNumber())
       {
         shell.Error("Servo %d: Recording model number 0x%04x != 0x%04x.",
             pRecording->GetServoModelNumber(nServoId),
             pServo->GetModelNumber());
         return;
       }
     }
 
     //
     // Open gnuplot file
     //
     if( sPlotFileName != NULL )
     {
       if( (m_fpPlot = fopen(sPlotFileName, "w")) == NULL ) 
       {
         shell.Error("%s: cannot open.", sPlotFileName);
         return;
        }
     }
 
     // initialiize 
     Init(shell);
 
     // play back the recording
     Play(shell);
 
     // clean up any resources
     Cleanup(shell);
   }

void DynaShellCmdPlay::PidInit ( DynaShell & shell )

inlineprotected

Initialize servo PIDs.

Parameters

shell Dynamixel shell.

Definition at line 2064 of file dynashell_cmd_train.cxx.

References DYNA_ID_NONE, DynaChain::GetServo(), DynaChain::IterNextMaster(), DynaChain::IterStartMaster(), and DynaShell::m_pDynaChain.

   {
     int         iter;
     int         nServoId;
     DynaServo  *pServo;
 
     for(nServoId = shell.m_pDynaChain->IterStartMaster(&iter);
         nServoId != DYNA_ID_NONE;
         nServoId = shell.m_pDynaChain->IterNextMaster(&iter))
     {
       pServo = shell.m_pDynaChain->GetServo(nServoId);
       pServo->GetSpeedPid().InitControl();
     }
   }

int DynaShellCmdPlay::PidSetPoint	(	DynaShell &	shell,
		int	nServoId,
		int	nGoalPos,
		int	nGoalSpeed
	)

inlineprotected

Specify (new) PID goal position setpoint.

Parameters

shell	Dynamixel shell.
nServoId	Servo Id.
uGoalPos	Goal odometer position.
nGoalSpeed	Goal speed. Direction is important since a position may be obtained in two rotation directions.

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

Definition at line 2090 of file dynashell_cmd_train.cxx.

References DYNA_DIR_CCW, DYNA_DIR_CW, DYNA_OK, DynaStrError(), DynaChain::GetServo(), and DynaShell::m_pDynaChain.

   {
     int         nDir = nGoalSpeed < 0? DYNA_DIR_CW: DYNA_DIR_CCW;
     DynaServo  *pServo;
     int         nCurPos;
     int         nOdPos;
     int         rc;
 
     pServo = shell.m_pDynaChain->GetServo(nServoId);
 
     // read current servo position
     rc = pServo->ReadCurPos(&nCurPos);
   
     if( rc != DYNA_OK )
     {
       printf("Error: Servo %d: ReadCurPos: %s\n", nServoId, DynaStrError(rc));
       return rc;
     }
   
     // set new setpoint
     pServo->GetSpeedPid().SpecifySetPoint(nOdPos);
 
     return DYNA_OK;
   }

void DynaShellCmdPlay::Play ( DynaShell & shell )

inlineprotected

Play back the previously recorded Dynamixel chain motion sequence.

Parameters

shell Dynamixel shell.

Definition at line 1727 of file dynashell_cmd_train.cxx.

References DYNA_OK, DynaRecording::END, DynaRecording::FirstRecord(), DynaRecording::GetDate(), DynaRecording::GetNumOfRecords(), DynaShell::m_pRecording, DynaRecording::NextRecord(), DynaShell::Response(), and waitkey().

   {
     DynaRecording  *pRecording = shell.m_pRecording;
     double          dt;
     double          t;
     int             nRecNum;
     int             rc;
   
     shell.Response("\nPlaying back recording made on %s.\n",
         pRecording->GetDate());
     shell.Response("  Number of records:      %d\n",
         pRecording->GetNumOfRecords());
     shell.Response("  Playback sample period: %.1lfms.\n", m_fSamplePeriod);
     shell.Response("  Sub-sample period:      %.3lfms.\n", dt);
     shell.Response("Press <CR> to abort recording.\n\n");
     fflush(stdout);
 
     m_fTAccum = 0.0;
 
     // move to the starting position
     MoveToStart(shell);
   
     //
     // Play back the recording.
     //
     for(nRecNum = pRecording->FirstRecord();
         nRecNum != DynaRecording::END;
         nRecNum = pRecording->NextRecord(nRecNum))
     {
       // set record goals
       rc = SetRecordGoals(shell, nRecNum);
   
       if( rc != DYNA_OK )
       {
         return;
       }
 
       //
       // Now control the speed profiles at the sub-sampled rate.
       //
       for(t=0.0; t<m_fSamplePeriod; t+=dt)
       {
         // control servos to goals
         rc = ControlToGoals(shell, nRecNum, dt);
        
         if( rc != DYNA_OK )
         {
           return;
         }
   
         // wait for next time interval or user keypress to abort
         if( waitkey(dt) )
         {
           // RDK could be that user aborted because of badness SecureArm(shell);
           return;
         }
 
         m_fTAccum += dt;
       }
     }
   }

void DynaShellCmdPlay::PlotInit ( DynaShell & shell )

inlineprotected

Initialize plot data output.

Parameters

shell Dynamixel shell.

Definition at line 2154 of file dynashell_cmd_train.cxx.

References DynaRecording::GetDate(), DynaRecording::GetNumOfRecords(), DynaRecording::GetSamplePeriod(), and DynaShell::m_pRecording.

   {
     if( m_fpPlot != NULL )
     {
       m_nPlotLineCnt = 0;
 
       fprintf(m_fpPlot, "#\n");
       fprintf(m_fpPlot, "# Dynamixel Play Back Plot Data\n");
       fprintf(m_fpPlot, "#   Recorded:                 %s\n",
           shell.m_pRecording->GetDate());
       fprintf(m_fpPlot, "#   Number of records:        %d\n",
           shell.m_pRecording->GetNumOfRecords());
       fprintf(m_fpPlot, "#   Recording sample period:  %dms\n",
           shell.m_pRecording->GetSamplePeriod());
       fprintf(m_fpPlot, "#   Playback sample period:   %.3f\n",
           m_fSamplePeriod);
       fprintf(m_fpPlot, "#   Playback delta time step: %.4lfs\n", m_dt);
       fprintf(m_fpPlot, "#\n");
       fprintf(m_fpPlot, "#Fields:\n");
       fprintf(m_fpPlot, "# time servo goal_pos goal_speed cur_pos "
                         "cur_speed\n");
       fprintf(m_fpPlot, "#\n");
     }
   }

void DynaShellCmdPlay::PlotWriteData	(	DynaShell &	shell,
		int	nRecNum,
		double	dt,
		int	nServoId,
		int	nCurPos
	)

inlineprotected

Write plot data to plot file.

Parameters

shell	Dynamixel shell.
nRecNum	Record number.
dt	Playback delta time step (seconds).
nServoid	Servo Id.
nCurPos	Servo current position.

Definition at line 2188 of file dynashell_cmd_train.cxx.

References DynaChain::GetServo(), and DynaShell::m_pDynaChain.

   {
     DynaServo  *pServo;
 
     if( m_fpPlot != NULL )
     {
       pServo = shell.m_pDynaChain->GetServo(nServoId);
       fprintf(m_fpPlot, "%.4f %d %u %d %u\n",
              m_fTAccum,
              nServoId,
             (uint_t)pServo->GetSpeedPid().GetSP(),
             nCurPos,
             (uint_t)pServo->GetSpeedPid().GetOutput());
     }
   }

void DynaShellCmdPlay::SecureArm ( DynaShell & shell )

inlineprotected

Secure arm in safe postition if posible.

Parameters

pDynaChain Pointer to Dynamixel chain handle.

Definition at line 2144 of file dynashell_cmd_train.cxx.

References DynaChain::Freeze(), and DynaShell::m_pDynaChain.

   {
     shell.m_pDynaChain->Freeze();
   }

int DynaShellCmdPlay::SetRecordGoals	(	DynaShell &	shell,
		int	nRecNum
	)

inlineprotected

Set record goals.

Set new PID setpoints
Initiate synchronous move of all servos to the recorded end position.

Parameters

shell	Dynamixel shell.
nRecNum	Record number in the recording.

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

Definition at line 1800 of file dynashell_cmd_train.cxx.

References DYNA_ID_NUMOF, DYNA_OK, DynaStrError(), DynaRecording::END, DynaRecording::FirstField(), DynaRecording::GetField(), DynaRecording::GetServoId(), DynaRecord::FieldTuple_T::m_nPos, DynaPosTuple_T::m_nPos, DynaPosTuple_T::m_nServoId, DynaRecord::FieldTuple_T::m_nSpeed, DynaShell::m_pDynaChain, DynaShell::m_pRecording, DynaRecording::NextField(), and DynaChain::SyncMoveTo().

   {
     DynaRecord::FieldTuple_T  tupRec;
     int                       nFldNum;
     int                       nServoId;
     DynaPosTuple_T            tupPos[DYNA_ID_NUMOF];
     uint_t                    uCount;
     int                       rc;
   
     printf("\n  goalpos_%d: ", nRecNum);
 
     //
     // Build synchronous write tuple while setting new pid setpoints.
     //
     for(nFldNum = shell.m_pRecording->FirstField(nRecNum), uCount=0;
         nFldNum != DynaRecording::END;
         nFldNum = shell.m_pRecording->NextField(nRecNum, nFldNum), ++uCount)
     {
       nServoId = shell.m_pRecording->GetServoId(nFldNum);
 
       tupRec = shell.m_pRecording->GetField(nRecNum, nFldNum);
 
       tupPos[nFldNum].m_nServoId = nServoId;
       tupPos[nFldNum].m_nPos     = tupRec.m_nPos;
   
       rc = PidSetPoint(shell, nServoId, tupRec.m_nPos, tupRec.m_nSpeed);
 
       if( rc < 0 )
       {
         return rc;
       }
 
       printf("%d %d   ", nServoId, tupRec.m_nPos);
     }
   
     printf("\n");
   
     //
     // Move synchronously to new position.
     //
     rc = shell.m_pDynaChain->SyncMoveTo(tupPos, uCount);
   
     if( rc < 0 )
     {
       printf("Error: SyncMoveTo: %s\n", DynaStrError(rc));
       return rc;
     }
   
     return DYNA_OK;
   }

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

inlinevirtual

Command tab completion generator.

Completes NULL 100 <plot_file>

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 1671 of file dynashell_cmd_train.cxx.

References ReadLine::dupstr(), ReadLine::FileCompletionGenerator(), ReadLine::FIRST, and ReadLine::wc().

   {
     int   nArgNum;
 
     // argument number of already (expanded) arguments
     nArgNum = ReadLine::wc(sContext) - ReadLine::wc(m_sPubName);
 
     //
     // New command argument to complete - initialize.
     //
     if( nState == ReadLine::FIRST )
     {
       m_nTabIndex   = 0;
     }
   
     // only match default playback <speed>
     if( nArgNum == 1 )
     {
       if( (m_nTabIndex++ == 0) && !strncmp("100", sText, uTextLen) )
       {
         return ReadLine::dupstr("100");
       }
     }
     
     // <plot_file>
     else if( nArgNum == 2 )
     {
       return ReadLine::FileCompletionGenerator(sText, nState);
     }
 
     return NULL;
   }

void DynaShellCmdPlay::WaitStop ( DynaShell & shell )

inlineprotected

Wait until all servos in chain have stopped moving utility function.

Note: Currently this member function is not used. But could be promoted to a usefull shell command.

Parameters

shell Dynamixel shell.

Definition at line 2216 of file dynashell_cmd_train.cxx.

References DYNA_ID_NONE, DYNA_OK, DynaChain::GetNumberInChain(), DynaChain::GetServo(), DynaChain::IterNext(), DynaChain::IterStart(), and DynaShell::m_pDynaChain.

   {
     int         nNumServos;
     int         nMoving;
     int         iter;
     int         nServoId;
     DynaServo  *pServo;
     bool        bIsMoving;
     int         rc;
   
     nNumServos = (int)shell.m_pDynaChain->GetNumberInChain();
     nMoving    = nNumServos;
   
     while( nMoving > 0 )
     {
       //printf(".");
   
       for(nServoId = shell.m_pDynaChain->IterStart(&iter);
           nServoId != DYNA_ID_NONE;
           nServoId = shell.m_pDynaChain->IterNext(&iter))
       {
         pServo = shell.m_pDynaChain->GetServo(nServoId);
   
         if( ((rc = pServo->ReadIsMoving(&bIsMoving)) == DYNA_OK) && bIsMoving )
         {
           ++nMoving;
         }
       }
     }
 
     //printf("\n");
   }

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

dynashell/dynashell_cmd_train.cxx

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