DynaShellCmdWriteTorqueEnable Class Reference

Determine if servos are moving. More...

Inheritance diagram for DynaShellCmdWriteTorqueEnable:

Protected Member Functions
virtual void	doExec (DynaShell &shell, ExecTup_T tup[], uint_t uCount)
	Enable/disable servos torques. More...
virtual bool	ArgToInt (DynaShell &shell, const char *sArg, int *pVal)
	Convert command argument into enable state. More...
Protected Member Functions inherited from DynaShellCmdChainOut
virtual bool	ArgToUInt (DynaShell &shell, const char *sArg, uint_t *pVal)
	Convert command argument into unsigned integer. 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 DynaShellCmdChainOut
	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 Attributes inherited from DynaShellCmdChainOut
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

Determine if servos are moving.

Definition at line 833 of file dynashell_cmd_servo.cxx.

Member Function Documentation

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

inlineprotectedvirtual

Convert command argument into enable state.

Parameters

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

Returns

Returns true on success, false otherwise.

Reimplemented from DynaShellCmdChainOut.

Definition at line 899 of file dynashell_cmd_servo.cxx.

References DynaShell::Error().

  {
    if( !strcmp(sArg, "e")    || !strcmp(sArg, "enable")  ||
        !strcmp(sArg, "on")   || !strcmp(sArg, "true")    ||
        !strcmp(sArg, "1") )
    {
      *pVal = 1;
      return true;
    }
    else if( !strcmp(sArg, "d")    || !strcmp(sArg, "disable")  ||
             !strcmp(sArg, "off")  || !strcmp(sArg, "false")    ||
             !strcmp(sArg, "0") )
    {
      *pVal = 0;
      return true;
    }
    else
    {
      shell.Error("Argument value \"%s\": Invalid state.", sArg);
      return false;
    }
  }

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

inlineprotectedvirtual

Enable/disable servos torques.

Parameters

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

Implements DynaShellCmdChainOut.

Definition at line 867 of file dynashell_cmd_servo.cxx.

References DYNA_OK, DynaShell::Error(), DynaChain::GetServo(), DynaServo::GetServoId(), ExecTup_T::m_nVal, and DynaShell::m_pDynaChain.

  {
    uint_t      i;
    DynaServo  *pServo;
    bool        state;
    int         rc;

    for(i=0, rc=DYNA_OK; i<uCount && i==DYNA_OK; ++i)
    {
      pServo = shell.m_pDynaChain->GetServo(tup[i].m_nServoId);
      state = tup[i].m_nVal? true: false;

      rc = pServo->WriteTorqueEnable(state);

      if( rc != DYNA_OK )
      {
        shell.Error(rc,
            "Servo %d: Failed to set torque enable state.",
            pServo->GetServoId());
      }
    }
  }

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

• dynashell/dynashell_cmd_servo.cxx