DynaShellCmdWriteMaxTorqueLimit Class Reference

Write servos on power-up or run-time maximum torque limits. More...

Inheritance diagram for DynaShellCmdWriteMaxTorqueLimit:

Public Member Functions
void	Exec (DynaShell &shell, int argc, char *argv[])
	Execute 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, ExecTup_T tup[], uint_t uCount)
	Move servos to goal positions. 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: 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 servos on power-up or run-time maximum torque limits.

Definition at line 1389 of file dynashell_cmd_servo.cxx.

Member Function Documentation

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

inlineprotectedvirtual

Move servos to goal positions.

Parameters

shell	Dynamixel shell.
uAddr	Torque limit address.
tup	Array of (servo id, goal position) 2-tuples.
uCount	Number of tuples.

Definition at line 1635 of file dynashell_cmd_servo.cxx.

References DYNA_OK, DynaShell::Error(), ExecTup_T::m_nServoId, DynaShell::m_pDynaComm, and DynaComm::Write16().

  {
    int         nServoId;
    uint_t      uVal;
    uint_t      i;
    int         rc;

    for(i=0, rc=DYNA_OK; i<uCount && rc==DYNA_OK; ++i)
    {
      nServoId = tup[i].m_nServoId;
      uVal     = (uint_t)tup[i].m_nVal;

      rc = shell.m_pDynaComm->Write16(nServoId, uAddr, uVal);

      if( rc != DYNA_OK )
      {
        shell.Error(rc,
            "Servo %d: Write maximum torque limit at 0x%02x with %u failed.",
            nServoId, uAddr, uVal);
      }
    }
  }

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

inlinevirtual

Execute command on servos.

Parameters

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

Implements DynaShellCmd.

Definition at line 1428 of file dynashell_cmd_servo.cxx.

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

  {
    uint_t      uAddr;
    uint_t      uNumPairs;
    ExecTup_T   tup[DYNA_ID_NUMOF];
    int         nServoId;
    int         nVal;
    int         iter;
    int         cnt;
  
    TRY( ChkArgCnt(shell, argc) );
  
    if( ((argc-1) % 2) != 0 )
    {
      shell.Error("Unmatched servo_id,value pairs.");
      return;
    }
  
    if( !strcmp(argv[0], "powerup") )
    {
      uAddr = DYNA_ADDR_LIM_TORQUE_MAX_ON_LSB;
    }
    else if( !strcmp(argv[0], "runtime") )
    {
      uAddr = DYNA_ADDR_LIM_TORQUE_MAX_LSB;
    }
    else
    {
      shell.Error("%s: Unknown <which> value.", argv[0]);
      return;
    }

    uNumPairs = (uint_t)((argc-1) / 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[1], "chain") )
    {
      TRY( ChkArgCntEQ(shell, argc, 3) );
      TRY( ToInt(shell, argv[2], &nVal) );
  
      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=1, cnt=0; iter<argc-1; iter+=2, ++cnt)
      {
        TRY( ToInt(shell, argv[iter], &nServoId) );
        TRY( ToInt(shell, argv[iter+1], &nVal) );
        TRY( ChkChainHasServo(shell, nServoId) );
  
        tup[cnt].m_nServoId = nServoId;
        tup[cnt].m_nVal     = nVal;
      } 
    }
  
    doExec(shell, uAddr, tup, uNumPairs);
  }

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

inlinevirtual

Command tab completion generator.

Completes NULL <which> <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 1521 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];
    int   i;
  
    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);

    // <which> 
    if( nArgNum == 0 )
    {
      if( nState == ReadLine::FIRST )
      {
        m_nTabIter = 0;
      }

      while( m_nTabIter < 2 )
      {
        i = m_nTabIter++;

        switch( i )
        {
          case 0:
            if( !strncmp("powerup", sText, uTextLen) )
            {
              return ReadLine::dupstr("powerup");
            }
            break;
          case 1:
            if( !strncmp("runtime", sText, uTextLen) )
            {
              return ReadLine::dupstr("runtime");
            }
            break;
        }
      }
    }

    // every even argument is the servo value, which cannot be expanded
    else if( !(nArgNum & 0x01) )
    {
      return NULL;
    }

    //
    // Tab complete servo list 
    //
    else
    {
      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;
  }

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

• dynashell/dynashell_cmd_servo.cxx