DynaShellCmdReadGoalPos Class Reference

Read servos goal positions. More...

Inheritance diagram for DynaShellCmdReadGoalPos:

Protected Member Functions
virtual void	doExec (DynaShell &shell, DynaServo *pServo)
	Read goal position for servo. 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...

Additional Inherited Members
Public Member Functions inherited from DynaShellCmdChainIn
	DynaShellCmdChainIn (bool bMasterOpOnly=false)
	Default constructor.
virtual	~DynaShellCmdChainIn ()
	Default destructor.
virtual void	Exec (DynaShell &shell, int argc, char *argv[])
	Execute 'read-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 Attributes inherited from DynaShellCmdChainIn
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

Read servos goal positions.

Definition at line 931 of file dynashell_cmd_servo.cxx.

Member Function Documentation

virtual void DynaShellCmdReadGoalPos::doExec ( DynaShell &  shell, DynaServo *  pServo  )

inlineprotectedvirtual

Read goal position for servo.

Parameters

shell	Dynamixel shell.
pServo	Pointer to servo.

Implements DynaShellCmdChainIn.

Definition at line 963 of file dynashell_cmd_servo.cxx.

References DYNA_MODE_CONTINUOUS, DYNA_MODE_SERVO, DYNA_OK, DynaShell::Error(), DynaServo::GetServoId(), DynaServo::GetServoMode(), and DynaShell::Response().

  {
    int     nGoalPos;
    int     rc;

    rc = pServo->ReadGoalPos(&nGoalPos);

    if( rc != DYNA_OK )
    {
      shell.Error(rc, "Servo %d: Read goal position failed.",
          pServo->GetServoId());
      return;
    }

    switch( pServo->GetServoMode() )
    {
      case DYNA_MODE_CONTINUOUS:
        shell.Response("Servo %3d: %d (continuous mode)\n",
            pServo->GetServoId(), nGoalPos);
        break;
      case DYNA_MODE_SERVO:
      default:
        shell.Response("Servo %3d: %d\n", pServo->GetServoId(), nGoalPos);
        break;
    }
  }

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

• dynashell/dynashell_cmd_servo.cxx