The class for reading multiple Dynamixel data from same address with same length at once. More...

#include <group_sync_read.h>

Inheritance diagram for mercury::GroupSyncRead:

Public Member Functions
	GroupSyncRead (PortHandler port, PacketHandler ph, uint16_t start_address, uint16_t data_length)
	The function that Initializes instance for Sync Read. More...

	~GroupSyncRead ()
	The function that calls clearParam function to clear the parameter list for Sync Read. More...

bool	addParam (uint8_t id)
	The function that adds id, start_address, data_length to the Sync Read list. More...

void	removeParam (uint8_t id)
	The function that removes id from the Sync Read list. More...

void	clearParam ()
	The function that clears the Sync Read list. More...

int	txPacket ()
	The function that transmits the Sync Read instruction packet which might be constructed by GroupSyncRead::addParam function. More...

int	rxPacket ()
	The function that receives the packet which might be come from the Dynamixel. More...

int	txRxPacket ()
	The function that transmits and receives the packet which might be come from the Dynamixel. More...

bool	isAvailable (uint8_t id, uint16_t address, uint16_t data_length)
	The function that checks whether there are available data which might be received by GroupSyncRead::rxPacket or GroupSyncRead::txRxPacket. More...

uint32_t	getData (uint8_t id, uint16_t address, uint16_t data_length)
	The function that gets the data which might be received by GroupSyncRead::rxPacket or GroupSyncRead::txRxPacket. More...

bool	getError (uint8_t id, uint8_t *error)
	The function that gets the error which might be received by GroupSyncRead::rxPacket or GroupSyncRead::txRxPacket. More...

Public Member Functions inherited from mercury::GroupHandler
	GroupHandler (PortHandler port, PacketHandler ph)

PortHandler *	getPortHandler ()

PacketHandler *	getPacketHandler ()

Protected Member Functions
void	makeParam ()

Protected Attributes
std::map< uint8_t, uint8_t * >	error_list_

bool	last_result_

uint16_t	start_address_

uint16_t	data_length_

Protected Attributes inherited from mercury::GroupHandler
PortHandler *	port_

PacketHandler *	ph_

std::vector< uint8_t >	id_list_

std::map< uint8_t, uint8_t * >	data_list_

bool	is_param_changed_

uint8_t *	param_

Detailed Description

The class for reading multiple Dynamixel data from same address with same length at once.

Definition at line 36 of file group_sync_read.h.

Constructor & Destructor Documentation

◆ GroupSyncRead()

GroupSyncRead::GroupSyncRead	(	PortHandler *	port,
		PacketHandler *	ph,
		uint16_t	start_address,
		uint16_t	data_length
	)

The function that Initializes instance for Sync Read.

Parameters

port	PortHandler instance
ph	PacketHandler instance
start_address	Address of the data for read
data_length	Length of the data for read

Definition at line 34 of file group_sync_read.cpp.

◆ ~GroupSyncRead()

mercury::GroupSyncRead::~GroupSyncRead ( )

inline

The function that calls clearParam function to clear the parameter list for Sync Read.

Definition at line 61 of file group_sync_read.h.

Member Function Documentation

◆ addParam()

bool GroupSyncRead::addParam ( uint8_t id )

The function that adds id, start_address, data_length to the Sync Read list.

Parameters

id	Dynamixel ID

Returns: false; when the ID exists already in the list; when the protocol1.0 has been used; or true

Definition at line 59 of file group_sync_read.cpp.

◆ clearParam()

void GroupSyncRead::clearParam ( )

The function that clears the Sync Read list.

Definition at line 91 of file group_sync_read.cpp.

◆ getData()

uint32_t GroupSyncRead::getData	(	uint8_t	id,
		uint16_t	address,
		uint16_t	data_length
	)

The function that gets the data which might be received by GroupSyncRead::rxPacket or GroupSyncRead::txRxPacket.

Parameters

id	Dynamixel ID
address	Address of the data for read @data_length Length of the data for read

Returns: data value

Definition at line 174 of file group_sync_read.cpp.

◆ getError()

bool GroupSyncRead::getError	(	uint8_t	id,
		uint8_t *	error
	)

The function that gets the error which might be received by GroupSyncRead::rxPacket or GroupSyncRead::txRxPacket.

Parameters

id	Dynamixel ID @error error of Dynamixel

Returns: true; when Dynamixel returned specific error byte; or false

Definition at line 196 of file group_sync_read.cpp.

◆ isAvailable()

bool GroupSyncRead::isAvailable	(	uint8_t	id,
		uint16_t	address,
		uint16_t	data_length
	)

The function that checks whether there are available data which might be received by GroupSyncRead::rxPacket or GroupSyncRead::txRxPacket.

Parameters

id	Dynamixel ID
address	Address of the data for read
data_length	Length of the data for read

Returns: false; when there are no data available; when the protocol1.0 has been used; or true

Definition at line 163 of file group_sync_read.cpp.

◆ makeParam()

void GroupSyncRead::makeParam ( )

protected

Definition at line 43 of file group_sync_read.cpp.

◆ removeParam()

void GroupSyncRead::removeParam ( uint8_t id )

The function that removes id from the Sync Read list.

Parameters

id	Dynamixel ID

Definition at line 74 of file group_sync_read.cpp.

◆ rxPacket()

int GroupSyncRead::rxPacket ( )

The function that receives the packet which might be come from the Dynamixel.

Returns: COMM_NOT_AVAILABLE; when the list for Sync Read is empty; when the protocol1.0 has been used; COMM_SUCCESS; when there is packet recieved; or the other communication results

Definition at line 121 of file group_sync_read.cpp.

◆ txPacket()

int GroupSyncRead::txPacket ( )

The function that transmits the Sync Read instruction packet which might be constructed by GroupSyncRead::addParam function.

Returns: COMM_NOT_AVAILABLE; when the list for Sync Read is empty; when the protocol1.0 has been used; or the other communication results which come from PacketHandler::syncReadTx

Definition at line 110 of file group_sync_read.cpp.

◆ txRxPacket()

int GroupSyncRead::txRxPacket ( )

The function that transmits and receives the packet which might be come from the Dynamixel.

Returns: COMM_NOT_AVAILABLE; when the protocol1.0 has been used; COMM_RX_FAIL; when there is no packet recieved; COMM_SUCCESS; when there is packet recieved; or the other communication results which come from GroupBulkRead::txPacket or GroupBulkRead::rxPacket

Definition at line 149 of file group_sync_read.cpp.

Member Data Documentation

◆ data_length_

uint16_t mercury::GroupSyncRead::data_length_

protected

Definition at line 44 of file group_sync_read.h.

◆ error_list_

std::map<uint8_t, uint8_t *> mercury::GroupSyncRead::error_list_

protected

Definition at line 39 of file group_sync_read.h.

◆ last_result_

bool mercury::GroupSyncRead::last_result_

protected

Definition at line 41 of file group_sync_read.h.

◆ start_address_

uint16_t mercury::GroupSyncRead::start_address_

protected

Definition at line 43 of file group_sync_read.h.

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

c++/include/mercury_sdk/group_sync_read.h
c++/src/mercury_sdk/group_sync_read.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GroupSyncRead()

◆ ~GroupSyncRead()

Member Function Documentation

◆ addParam()

◆ clearParam()

◆ getData()

◆ getError()

◆ isAvailable()

◆ makeParam()

◆ removeParam()

◆ rxPacket()

◆ txPacket()

◆ txRxPacket()

Member Data Documentation

◆ data_length_

◆ error_list_

◆ last_result_

◆ start_address_