Write byte value to servo at address. More...

Inheritance diagram for DynaShellCmdWriteByte:

Public Member Functions
virtual void	Exec (DynaShell &shell, int argc, char *argv[])
	Execute write byte 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, uint_t uAddr, DynaSyncWriteTuple_T tup[], uint_t uCount)
	Write byte. 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_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

Write byte value to servo at address.

Definition at line 2391 of file dynashell_cmd_servo.cxx.

Member Function Documentation

virtual void DynaShellCmdWriteByte::doExec	(	DynaShell &	shell,
		uint_t	uAddr,
		DynaSyncWriteTuple_T	tup[],
		uint_t	uCount
	)

inlineprotectedvirtual

Write byte.

Parameters

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

Reimplemented in DynaShellCmdWriteWord.

Definition at line 2595 of file dynashell_cmd_servo.cxx.

References DYNA_OK, DynaShell::Error(), DynaShell::m_pDynaComm, DynaShell::Ok(), DynaComm::SyncWrite(), and DynaComm::Write8().

   {
     int         rc;
 
     if( uCount == 1 )
     {
       rc = shell.m_pDynaComm->Write8(tup[0].m_nServoId, uAddr, tup[0].m_uVal);
 
       if( rc != DYNA_OK )
       {
         shell.Error(rc,
           "Servo %d: Failed to write byte 0x%02x to 0x%02x.",
           tup[0].m_nServoId, tup[0].m_uVal, uAddr);
         return;
       }
     }
     else
     {
       rc = shell.m_pDynaComm->SyncWrite(uAddr, 1, tup, uCount);
 
       if( rc != DYNA_OK )
       {
         shell.Error(rc,
           "Failed to syncwrite to 0x%02x for %u servos.",
           uAddr, uCount);
         return;
       }
     }
 
     shell.Ok();
   }

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

inlinevirtual

Execute write byte command on servos.

Parameters

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

Implements DynaShellCmd.

Definition at line 2431 of file dynashell_cmd_servo.cxx.

References DYNA_ID_NONE, DYNA_ID_NUMOF, DynaShell::Error(), DynaChain::IterNext(), DynaChain::IterStart(), DynaSyncWriteTuple_T::m_nServoId, DynaShell::m_pDynaChain, DynaSyncWriteTuple_T::m_uVal, and TRY.

   {
     DynaSyncWriteTuple_T  tup[DYNA_ID_NUMOF];
     uint_t  uAddr;
     uint_t  uVal;
     int     nServoId;
     int     iter;
     int                   cnt;
     uint_t  uNumPairs;
 
     TRY( ChkArgCnt(shell, argc) );
     TRY( ChkComm(shell) );
     TRY( ChkChainNotEmpty(shell) );
 
     TRY( ToInt(shell, argv[0], (int *)&uAddr) );
 
     cnt = argc - 1; // less address
 
     if( (cnt % 2) != 0 )
     {
       shell.Error("Unmatched servo_id,value pairs.");
       return;
     }
 
     uNumPairs = (uint_t)(cnt / 2);
 
     if( uNumPairs > DYNA_ID_NUMOF )
     {
       shell.Error("%u: Too many servo_id,value pairs.", uNumPairs);
       return;
     }
 
     if( !strcmp(argv[1], "chain") )
     {
       TRY( ChkArgCntEQ(shell, argc, 3) );
 
       TRY( ToInt(shell, argv[2], (int *)&uVal) );
 
       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_uVal     = uVal;
       }
     }
 
     else
     {
       for(iter=1, cnt=0; iter<argc; iter+=2, ++cnt)
       {
         TRY( ToInt(shell, argv[iter], &nServoId) );
         TRY( ChkChainHasServo(shell, nServoId) );
         TRY( ToInt(shell, argv[iter+1], (int *)&uVal) );
 
         tup[cnt].m_nServoId = nServoId;
         tup[cnt].m_uVal     = uVal;
       }
     }
 
     doExec(shell, uAddr, tup, (uint_t)cnt);
   }

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

inlinevirtual

Command tab completion generator.

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

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 2509 of file dynashell_cmd_servo.cxx.

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

   {
     int         nArgNum;
 
     char  buf[16];
   
     if( (shell.m_pDynaChain == NULL) ||
         (shell.m_pDynaChain->GetNumberInChain() == 0) )
     {
       return NULL;
     }
   
     // argument number of already (expanded) arguments
     nArgNum = ReadLine::wc(sContext) - ReadLine::wc(m_sPubName);
 
     // cannot complete adrress
     if( nArgNum == 0 )
     {
       return NULL;
     }
 
     // every even argument is the servo value, which cannot be expanded
     else if( (nArgNum & 0x01) == 0 )
     {
       return NULL;
     }
 
     // New command argument to complete - initialize.
     //
     if( nState == ReadLine::FIRST )
     {
       m_nTabServoId = shell.m_pDynaChain->IterStart(&m_nTabIter);
   
       if( nArgNum == 1 )
       {
         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;
   
       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 file:

dynashell/dynashell_cmd_servo.cxx

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation