dynashell_cmd.h File Reference

The dynashell Command Class Interface. More...

#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <cstring>
#include <iostream>
#include <fstream>
#include "rnr/rnrconfig.h"
#include "rnr/log.h"
#include "Dynamixel/Dynamixel.h"
#include "Dynamixel/DynaComm.h"
#include "Dynamixel/DynaServo.h"
#include "Dynamixel/DynaChain.h"
#include "dynashell.h"

Go to the source code of this file.

Classes
class	DynaShellCmd
	Dynamixel shell command abstract base class. More...
class	DynaShellCmdChainIn
	Dynamixel chain input command abstract base class. More...
struct	ExecTup_T
	Execute 2-tuple structure type. More...
class	DynaShellCmdChainOut
	Dynamixel chain output command abstract base class. More...

Macros
#define	TRY(boolexpr, ...)   do { if( !(boolexpr) ) { return; } } while(0)
	Try boolean expression. More...

Functions
void	PublishShellCoreCommands (DynaShell &shell)
	Publish shell core commands to shell. More...
void	PublishShellInterfaceCommands (DynaShell &shell)
	Publish shell dynamixel interface commands to shell. More...
void	PublishShellServoCommands (DynaShell &shell)
	Publish shell servo commands to shell. More...
void	PublishShellTrainCommands (DynaShell &shell)
	Publish shell servo commands to shell. More...

Detailed Description

The dynashell Command Class Interface.

LastChangedDate

2015-01-12 10:56:06 -0700 (Mon, 12 Jan 2015)

Rev

3845

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2011-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file dynashell_cmd.h.

Macro Definition Documentation

#define TRY	(		boolexpr,
			...
	)		do { if( !(boolexpr) ) { return; } } while(0)

Try boolean expression.

Parameters

boolexpr

Boolean C/C++ expression.

Returns

Returns from calling function if expression evaluates to false.

Definition at line 89 of file dynashell_cmd.h.

Referenced by DynaShellCmdCreate::Exec(), DynaShellCmdHelp::Exec(), DynaShellCmdMoveAtSpeedTo::Exec(), DynaShellCmdSetPid::Exec(), DynaShellCmdDestroy::Exec(), DynaShellCmdScan::Exec(), DynaShellCmdEStop::Exec(), DynaShellCmdPing::Exec(), DynaShellCmdFreeze::Exec(), DynaShellCmdLoadRecording::Exec(), DynaShellCmdLog::Exec(), DynaShellCmdList::Exec(), DynaShellCmdRelease::Exec(), DynaShellCmdLink::Exec(), DynaShellCmdWait::Exec(), DynaShellCmdChainIn::Exec(), DynaShellCmdSetOdometer::Exec(), DynaShellCmdScript::Exec(), DynaShellCmdChainOut::Exec(), DynaShellCmdUnlink::Exec(), DynaShellCmdMegaScan::Exec(), DynaShellCmdBgtStart::Exec(), DynaShellCmdSaveRecording::Exec(), DynaShellCmdBgtStop::Exec(), DynaShellCmdReadMaxTorqueLimit::Exec(), DynaShellCmdBgtGetState::Exec(), DynaShellCmdTrain::Exec(), DynaShellCmdSetHalfDuplexCtl::Exec(), DynaShellCmdWriteMaxTorqueLimit::Exec(), DynaShellCmdPlay::Exec(), DynaShellCmdSetSoftTorqueTh::Exec(), DynaShellCmdReadByte::Exec(), and DynaShellCmdWriteByte::Exec().

Function Documentation

void PublishShellCoreCommands

(

DynaShell &

shell

)

Publish shell core commands to shell.

The core set includes the common shell base commands idependent of application.

shell Dynamixel shell.

Definition at line 689 of file dynashell_cmd_core.cxx.

References DynaShell::PublishCommand().

Referenced by DynaShellCmdChainOut::ArgToUInt(), and MainInit().

{
  shell.PublishCommand(NULL, new DynaShellCmdHelp());
  shell.PublishCommand(NULL, new DynaShellCmdQuit());
  //shell.PublishCommand(NULL, new DynaShellCmdExit());
  shell.PublishCommand(NULL, new DynaShellCmdLog());
  shell.PublishCommand(NULL, new DynaShellCmdWait());
  shell.PublishCommand("run", new DynaShellCmdScript());
}

void PublishShellInterfaceCommands

(

DynaShell &

shell

)

Publish shell dynamixel interface commands to shell.

The dynamixel interface command set contains the top-level dynamixel library semantic fundamentals.

shell Dynamixel shell.

Definition at line 1467 of file dynashell_cmd_if.cxx.

References DynaShell::PublishCommand().

Referenced by DynaShellCmdChainOut::ArgToUInt(), and MainInit().

{
  shell.PublishCommand(NULL, new DynaShellCmdCreate());
  shell.PublishCommand(NULL, new DynaShellCmdDestroy());
  shell.PublishCommand(NULL, new DynaShellCmdScan());
  shell.PublishCommand(NULL, new DynaShellCmdPing());
  shell.PublishCommand(NULL, new DynaShellCmdList());
  shell.PublishCommand(NULL, new DynaShellCmdLink());
  shell.PublishCommand(NULL, new DynaShellCmdUnlink());
  shell.PublishCommand(NULL, new DynaShellCmdMegaScan());
  shell.PublishCommand("bg", new DynaShellCmdBgtStart());
  shell.PublishCommand("bg", new DynaShellCmdBgtStop());
  shell.PublishCommand("bg", new DynaShellCmdBgtGetState());
  shell.PublishCommand("set", new DynaShellCmdSetHalfDuplexCtl());
}

void PublishShellServoCommands

(

DynaShell &

shell

)

Publish shell servo commands to shell.

shell Dynamixel shell.

Definition at line 2846 of file dynashell_cmd_servo.cxx.

References DynaShell::PublishCommand().

Referenced by DynaShellCmdChainOut::ArgToUInt(), and MainInit().

{
  shell.PublishCommand(NULL, new DynaShellCmdMoveTo());
  shell.PublishCommand(NULL, new DynaShellCmdMoveAtSpeedTo());
  shell.PublishCommand(NULL, new DynaShellCmdEStop());
  shell.PublishCommand(NULL, new DynaShellCmdStop());
  shell.PublishCommand(NULL, new DynaShellCmdFreeze());
  shell.PublishCommand(NULL, new DynaShellCmdRelease());

  shell.PublishCommand("get", new DynaShellCmdGetOdometer());
  shell.PublishCommand("set", new DynaShellCmdSetOdometer());

  shell.PublishCommand("write", new DynaShellCmdCfgWriteServoMode());

  shell.PublishCommand("read", new DynaShellCmdReadTorqueEnable());
  shell.PublishCommand("write", new DynaShellCmdWriteTorqueEnable());

  shell.PublishCommand("read", new DynaShellCmdReadGoalPos());
  //shell.PublishCommand("read", new DynaShellCmdWriteGoalPos());

  shell.PublishCommand("read", new DynaShellCmdReadGoalSpeed());
  shell.PublishCommand("write", new DynaShellCmdWriteGoalSpeed());

  shell.PublishCommand("read", new DynaShellCmdReadMaxTorqueLimit());
  shell.PublishCommand("write", new DynaShellCmdWriteMaxTorqueLimit());

  shell.PublishCommand("get", new DynaShellCmdGetSoftTorqueTh());
  shell.PublishCommand("set", new DynaShellCmdSetSoftTorqueTh());

  shell.PublishCommand("read", new DynaShellCmdReadCurPos());
  shell.PublishCommand("read", new DynaShellCmdReadCurSpeed());

  shell.PublishCommand("read", new DynaShellCmdReadDynamics());
  shell.PublishCommand("read", new DynaShellCmdReadHealth());
  shell.PublishCommand("clear", new DynaShellCmdClearAlarms());

  shell.PublishCommand("read", new DynaShellCmdReadIsMoving());

  shell.PublishCommand("read", new DynaShellCmdReadByte());
  shell.PublishCommand("write", new DynaShellCmdWriteByte());

  shell.PublishCommand("read", new DynaShellCmdReadWord());
  shell.PublishCommand("write", new DynaShellCmdWriteWord());

  shell.PublishCommand("dump", new DynaShellCmdDump());
}

void PublishShellTrainCommands

(

DynaShell &

shell

)

Publish shell servo commands to shell.

shell Dynamixel shell.

Definition at line 2260 of file dynashell_cmd_train.cxx.

References DynaShell::PublishCommand().

Referenced by DynaShellCmdChainOut::ArgToUInt().

{
  shell.PublishCommand("get", new DynaShellCmdGetPid());
  shell.PublishCommand("set", new DynaShellCmdSetPid());
  shell.PublishCommand("load", new DynaShellCmdLoadRecording());
  shell.PublishCommand("save", new DynaShellCmdSaveRecording());
  shell.PublishCommand(NULL, new DynaShellCmdTrain());
  shell.PublishCommand(NULL, new DynaShellCmdPlay());
}