The class that inherits Protocol1PacketHandler class or Protocol2PacketHandler class. More...

#include <packet_handler.h>

Inheritance diagram for mercury::PacketHandler:

Public Member Functions
virtual	~PacketHandler ()

virtual float	getProtocolVersion ()=0
	The function that returns Protocol version. More...

virtual const char *	getTxRxResult (int result)=0
	The function that gets description of communication result. More...

virtual const char *	getRxPacketError (uint8_t error)=0
	The function that gets description of hardware error. More...

virtual int	txPacket (PortHandler port, uint8_t txpacket)=0
	The function that transmits the instruction packet txpacket via PortHandler port. @description The function clears the port buffer by PortHandler::clearPort() function, @description then transmits txpacket by PortHandler::writePort() function. @description The function activates only when the port is not busy and when the packet is already written on the port buffer. More...

virtual int	rxPacket (PortHandler port, uint8_t rxpacket)=0
	The function that receives packet (rxpacket) during designated time via PortHandler port @description The function repeatedly tries to receive rxpacket by PortHandler::readPort() function. @description It breaks out @description when PortHandler::isPacketTimeout() shows the timeout, @description when rxpacket seemed as corrupted, or @description when nothing received. More...

virtual int	txRxPacket (PortHandler port, uint8_t txpacket, uint8_t rxpacket, uint8_t error=0)=0
	The function that transmits packet (txpacket) and receives packet (rxpacket) during designated time via PortHandler port @description The function calls PacketHandler::txPacket(), @description and calls PacketHandler::rxPacket() if it succeeds PacketHandler::txPacket(). @description It breaks out @description when it fails PacketHandler::txPacket(), @description when txpacket is called by PacketHandler::broadcastPing() / PacketHandler::syncWriteTxOnly() / PacketHandler::regWriteTxOnly / PacketHandler::action. More...

virtual int	ping (PortHandler port, uint8_t id, uint8_t error=0)=0
	The function that pings Mercury but doesn't take its model number @description The function calls PacketHandler::ping() which gets Mercury model number, @description but doesn't carry the model number. More...

virtual int	ping (PortHandler port, uint8_t id, uint16_t model_number, uint8_t *error=0)=0
	The function that pings Mercury and takes its model number @description The function makes an instruction packet with INST_PING, @description transmits the packet with PacketHandler::txRxPacket(), @description and call PacketHandler::readTxRx to read model_number in the rx buffer. @description It breaks out @description when it tries to transmit to BROADCAST_ID. More...

virtual int	broadcastPing (PortHandler *port, std::vector< uint8_t > &id_list)=0
	(Available only in Protocol 2.0) The function that pings all connected Mercury More...

virtual int	action (PortHandler *port, uint8_t id)=0
	The function that makes Mercurys run as written in the Mercury register @description The function makes an instruction packet with INST_ACTION, @description transmits the packet with PacketHandler::txRxPacket(). @description To use this function, Mercury register should be set by PacketHandler::regWriteTxOnly() or PacketHandler::regWriteTxRx() More...

virtual int	reboot (PortHandler port, uint8_t id, uint8_t error=0)=0
	The function that makes Mercury reboot @description The function makes an instruction packet with INST_REBOOT, @description transmits the packet with PacketHandler::txRxPacket(), @description then Mercury reboots. @description During reboot, its LED will blink. More...

virtual int	clearMultiTurn (PortHandler port, uint8_t id, uint8_t error=0)=0
	The function that resets the multi-turn revolution count @description The function makes an instruction packet with INST_CLEAR, @description transmits the packet with Protocol2PacketHandler::txRxPacket(). More...

virtual int	factoryReset (PortHandler port, uint8_t id, uint8_t option=0, uint8_t error=0)=0
	The function that makes Mercury reset as it was produced in the factory @description The function makes an instruction packet with INST_FACTORY_RESET, @description transmits the packet with PacketHandler::txRxPacket(). @description Be careful of the use. More...

virtual int	readTx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length)=0
	The function that transmits INST_READ instruction packet @description The function makes an instruction packet with INST_READ, @description transmits the packet with PacketHandler::txPacket(). @description It breaks out @description when it tries to transmit to BROADCAST_ID. More...

virtual int	readRx (PortHandler port, uint8_t id, uint16_t length, uint8_t data, uint8_t *error=0)=0
	The function that receives the packet and reads the data in the packet @description The function receives the packet which might be come by previous INST_READ instruction packet transmission, @description gets the data from the packet. More...

virtual int	readTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data, uint8_t *error=0)=0
	The function that transmits INST_READ instruction packet, and read data from received packet @description The function makes an instruction packet with INST_READ, @description transmits and receives the packet with PacketHandler::txRxPacket(), @description gets the data from the packet. @description It breaks out @description when it tries to transmit to BROADCAST_ID. More...

virtual int	read1ByteTx (PortHandler *port, uint8_t id, uint16_t address)=0
	The function that calls PacketHandler::readTx() function for reading 1 byte data @description The function calls PacketHandler::readTx() function for reading 1 byte data. More...

virtual int	read1ByteRx (PortHandler port, uint8_t id, uint8_t data, uint8_t *error=0)=0
	The function that calls PacketHandler::readRx() function and reads 1 byte data on the packet @description The function calls PacketHandler::readRx() function, @description gets 1 byte data from the packet. More...

virtual int	read1ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error=0)=0
	The function that calls PacketHandler::readTxRx() function for reading 1 byte data @description The function calls PacketHandler::readTxRx(), @description gets 1 byte data from the packet. More...

virtual int	read2ByteTx (PortHandler *port, uint8_t id, uint16_t address)=0
	The function that calls PacketHandler::readTx() function for reading 2 byte data @description The function calls PacketHandler::readTx() function for reading 2 byte data. More...

virtual int	read2ByteRx (PortHandler port, uint8_t id, uint16_t data, uint8_t *error=0)=0
	The function that calls PacketHandler::readRx() function and reads 2 byte data on the packet @description The function calls PacketHandler::readRx() function, @description gets 2 byte data from the packet. More...

virtual int	read2ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error=0)=0
	The function that calls PacketHandler::readTxRx() function for reading 2 byte data @description The function calls PacketHandler::readTxRx(), @description gets 2 byte data from the packet. More...

virtual int	read4ByteTx (PortHandler *port, uint8_t id, uint16_t address)=0
	The function that calls PacketHandler::readTx() function for reading 4 byte data @description The function calls PacketHandler::readTx() function for reading 4 byte data. More...

virtual int	read4ByteRx (PortHandler port, uint8_t id, uint32_t data, uint8_t *error=0)=0
	The function that calls PacketHandler::readRx() function and reads 4 byte data on the packet @description The function calls PacketHandler::readRx() function, @description gets 4 byte data from the packet. More...

virtual int	read4ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error=0)=0
	The function that calls PacketHandler::readTxRx() function for reading 4 byte data @description The function calls PacketHandler::readTxRx(), @description gets 4 byte data from the packet. More...

virtual int	writeTxOnly (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data)=0
	The function that transmits INST_WRITE instruction packet with the data for write @description The function makes an instruction packet with INST_WRITE and the data for write, @description transmits the packet with PacketHandler::txPacket(). More...

virtual int	writeTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data, uint8_t *error=0)=0
	The function that transmits INST_WRITE instruction packet with the data for write, and receives the packet @description The function makes an instruction packet with INST_WRITE and the data for write, @description transmits and receives the packet with PacketHandler::txRxPacket(), @description gets the error from the packet. More...

virtual int	write1ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint8_t data)=0
	The function that calls PacketHandler::writeTxOnly() for writing 1 byte data @description The function calls PacketHandler::writeTxOnly() for writing 1 byte data. More...

virtual int	write1ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint8_t data, uint8_t error=0)=0
	The function that calls PacketHandler::writeTxRx() for writing 1 byte data and receives the packet @description The function calls PacketHandler::writeTxRx() for writing 1 byte data and receves the packet, @description gets the error from the packet. More...

virtual int	write2ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t data)=0
	The function that calls PacketHandler::writeTxOnly() for writing 2 byte data @description The function calls PacketHandler::writeTxOnly() for writing 2 byte data. More...

virtual int	write2ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t data, uint8_t error=0)=0
	The function that calls PacketHandler::writeTxRx() for writing 2 byte data and receives the packet @description The function calls PacketHandler::writeTxRx() for writing 2 byte data and receves the packet, @description gets the error from the packet. More...

virtual int	write4ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint32_t data)=0
	The function that calls PacketHandler::writeTxOnly() for writing 4 byte data @description The function calls PacketHandler::writeTxOnly() for writing 4 byte data. More...

virtual int	write4ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint32_t data, uint8_t error=0)=0
	The function that calls PacketHandler::writeTxRx() for writing 4 byte data and receives the packet @description The function calls PacketHandler::writeTxRx() for writing 4 byte data and receves the packet, @description gets the error from the packet. More...

virtual int	regWriteTxOnly (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data)=0
	The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Mercury register @description The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Mercury register, @description transmits the packet with PacketHandler::txPacket(). @description The data written in the register will act when INST_ACTION instruction packet is transmitted to the Mercury. More...

virtual int	regWriteTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data, uint8_t *error=0)=0
	The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Mercury register, and receives the packet @description The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Mercury register, @description transmits and receives the packet with PacketHandler::txRxPacket(), @description gets the error from the packet. @description The data written in the register will act when INST_ACTION instruction packet is transmitted to the Mercury. More...

virtual int	syncReadTx (PortHandler port, uint16_t start_address, uint16_t data_length, uint8_t param, uint16_t param_length)=0
	The function that transmits INST_SYNC_READ instruction packet @description The function makes an instruction packet with INST_SYNC_READ, @description transmits the packet with PacketHandler::txPacket(). More...

virtual int	syncWriteTxOnly (PortHandler port, uint16_t start_address, uint16_t data_length, uint8_t param, uint16_t param_length)=0
	The function that transmits INST_SYNC_WRITE instruction packet @description The function makes an instruction packet with INST_SYNC_WRITE, @description transmits the packet with PacketHandler::txRxPacket(). More...

virtual int	synchronise (PortHandler port, uint8_t id, uint8_t error=0)=0
	The function that synchronises the servo @description This function will synchronise the target Mercury servo. @description transmits the packet with PacketHandler::txRxPacket(). More...

Static Public Member Functions
static PacketHandler *	getPacketHandler ()
	The function that returns PacketHandler instance. More...

Protected Member Functions
	PacketHandler ()

Detailed Description

The class that inherits Protocol1PacketHandler class or Protocol2PacketHandler class.

Definition at line 84 of file packet_handler.h.

Constructor & Destructor Documentation

◆ PacketHandler()

mercury::PacketHandler::PacketHandler ( )

inlineprotected

Definition at line 87 of file packet_handler.h.

◆ ~PacketHandler()

virtual mercury::PacketHandler::~PacketHandler ( )

inlinevirtual

Definition at line 96 of file packet_handler.h.

Member Function Documentation

◆ action()

virtual int mercury::PacketHandler::action	(	PortHandler *	port,
		uint8_t	id
	)

pure virtual

The function that makes Mercurys run as written in the Mercury register @description The function makes an instruction packet with INST_ACTION, @description transmits the packet with PacketHandler::txRxPacket(). @description To use this function, Mercury register should be set by PacketHandler::regWriteTxOnly() or PacketHandler::regWriteTxRx()

Parameters

port	PortHandler instance
id	Mercury ID

Returns: communication results which come from PacketHandler::txRxPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ broadcastPing()

virtual int mercury::PacketHandler::broadcastPing	(	PortHandler *	port,
		std::vector< uint8_t > &	id_list
	)

pure virtual

(Available only in Protocol 2.0) The function that pings all connected Mercury

Parameters

port	PortHandler instance
id_list	ID list of Mercurys which are found by broadcast ping

Returns: COMM_NOT_AVAILABLE

Implemented in mercury::Protocol2PacketHandler.

◆ clearMultiTurn()

virtual int mercury::PacketHandler::clearMultiTurn	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = `0`
	)

pure virtual

The function that resets the multi-turn revolution count @description The function makes an instruction packet with INST_CLEAR, @description transmits the packet with Protocol2PacketHandler::txRxPacket().

Parameters

port	PortHandler instance
id	Mercury ID
error	Mercury hardware error or Result Fail (0x01) or 0 (success)

Returns: communication results which come from Protocol2PacketHandler::txRxPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ factoryReset()

virtual int mercury::PacketHandler::factoryReset	(	PortHandler *	port,
		uint8_t	id,
		uint8_t	option = `0`,
		uint8_t *	error = `0`
	)

pure virtual

The function that makes Mercury reset as it was produced in the factory @description The function makes an instruction packet with INST_FACTORY_RESET, @description transmits the packet with PacketHandler::txRxPacket(). @description Be careful of the use.

Parameters

port	PortHandler instance
id	Mercury ID
option	Reset option
error	Mercury hardware error

Returns: communication results which come from PacketHandler::txRxPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ getPacketHandler()

PacketHandler * PacketHandler::getPacketHandler ( )

static

The function that returns PacketHandler instance.

Returns: PacketHandler instance

Definition at line 36 of file packet_handler.cpp.

◆ getProtocolVersion()

virtual float mercury::PacketHandler::getProtocolVersion ( )

pure virtual

The function that returns Protocol version.

Returns: protocol version

Implemented in mercury::Protocol2PacketHandler.

◆ getRxPacketError()

virtual const char* mercury::PacketHandler::getRxPacketError ( uint8_t error )

pure virtual

The function that gets description of hardware error.

Parameters

error Mercury hardware error which might be gotten by the tx rx functions

Returns: description of hardware error in const char* (string)

Implemented in mercury::Protocol2PacketHandler.

◆ getTxRxResult()

virtual const char* mercury::PacketHandler::getTxRxResult ( int result )

pure virtual

The function that gets description of communication result.

Parameters

result Communication result which might be gotten by the tx rx functions

Returns: description of communication result in const char* (string)

Implemented in mercury::Protocol2PacketHandler.

◆ ping() [1/2]

virtual int mercury::PacketHandler::ping	(	PortHandler *	port,
		uint8_t	id,
		uint16_t *	model_number,
		uint8_t *	error = `0`
	)

pure virtual

The function that pings Mercury and takes its model number @description The function makes an instruction packet with INST_PING, @description transmits the packet with PacketHandler::txRxPacket(), @description and call PacketHandler::readTxRx to read model_number in the rx buffer. @description It breaks out @description when it tries to transmit to BROADCAST_ID.

Parameters

port	PortHandler instance
id	Mercury ID
error	Mercury hardware error

Returns: COMM_NOT_AVAILABLE; when it tries to transmit to BROADCAST_ID; COMM_SUCCESS; when it succeeds to ping Mercury and get model_number from it; or the other communication results which come from PacketHandler::txRxPacket() and PacketHandler::readTxRx()

Implemented in mercury::Protocol2PacketHandler.

◆ ping() [2/2]

virtual int mercury::PacketHandler::ping	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = `0`
	)

pure virtual

The function that pings Mercury but doesn't take its model number @description The function calls PacketHandler::ping() which gets Mercury model number, @description but doesn't carry the model number.

Parameters

port	PortHandler instance
id	Mercury ID
error	Mercury hardware error

Returns: communication results which come from PacketHandler::ping()

Implemented in mercury::Protocol2PacketHandler.

◆ read1ByteRx()

virtual int mercury::PacketHandler::read1ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

pure virtual

The function that calls PacketHandler::readRx() function and reads 1 byte data on the packet @description The function calls PacketHandler::readRx() function, @description gets 1 byte data from the packet.

Parameters

port	PortHandler instance
data	Data extracted from the packet
error	Mercury hardware error

Returns: communication results which come from PacketHandler::readRx()

Implemented in mercury::Protocol2PacketHandler.

◆ read1ByteTx()

virtual int mercury::PacketHandler::read1ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)

pure virtual

The function that calls PacketHandler::readTx() function for reading 1 byte data @description The function calls PacketHandler::readTx() function for reading 1 byte data.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for read

Returns: communication results which come from PacketHandler::readTx()

Implemented in mercury::Protocol2PacketHandler.

◆ read1ByteTxRx()

virtual int mercury::PacketHandler::read1ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

pure virtual

The function that calls PacketHandler::readTxRx() function for reading 1 byte data @description The function calls PacketHandler::readTxRx(), @description gets 1 byte data from the packet.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for read
length	Length of the data for read
data	Data extracted from the packet
error	Mercury hardware error

Returns: communication results which come from PacketHandler::txRxPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ read2ByteRx()

virtual int mercury::PacketHandler::read2ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t *	data,
		uint8_t *	error = `0`
	)

pure virtual

The function that calls PacketHandler::readRx() function and reads 2 byte data on the packet @description The function calls PacketHandler::readRx() function, @description gets 2 byte data from the packet.

Parameters

port	PortHandler instance
data	Data extracted from the packet
error	Mercury hardware error

Returns: communication results which come from PacketHandler::readRx()

Implemented in mercury::Protocol2PacketHandler.

◆ read2ByteTx()

virtual int mercury::PacketHandler::read2ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)

pure virtual

The function that calls PacketHandler::readTx() function for reading 2 byte data @description The function calls PacketHandler::readTx() function for reading 2 byte data.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for read

Returns: communication results which come from PacketHandler::readTx()

Implemented in mercury::Protocol2PacketHandler.

◆ read2ByteTxRx()

virtual int mercury::PacketHandler::read2ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t *	data,
		uint8_t *	error = `0`
	)

pure virtual

The function that calls PacketHandler::readTxRx() function for reading 2 byte data @description The function calls PacketHandler::readTxRx(), @description gets 2 byte data from the packet.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for read
length	Length of the data for read
data	Data extracted from the packet
error	Mercury hardware error

Returns: communication results which come from PacketHandler::txRxPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ read4ByteRx()

virtual int mercury::PacketHandler::read4ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint32_t *	data,
		uint8_t *	error = `0`
	)

pure virtual

The function that calls PacketHandler::readRx() function and reads 4 byte data on the packet @description The function calls PacketHandler::readRx() function, @description gets 4 byte data from the packet.

Parameters

port	PortHandler instance
data	Data extracted from the packet
error	Mercury hardware error

Returns: communication results which come from PacketHandler::readRx()

Implemented in mercury::Protocol2PacketHandler.

◆ read4ByteTx()

virtual int mercury::PacketHandler::read4ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)

pure virtual

The function that calls PacketHandler::readTx() function for reading 4 byte data @description The function calls PacketHandler::readTx() function for reading 4 byte data.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for read

Returns: communication results which come from PacketHandler::readTx()

Implemented in mercury::Protocol2PacketHandler.

◆ read4ByteTxRx()

virtual int mercury::PacketHandler::read4ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t *	data,
		uint8_t *	error = `0`
	)

pure virtual

The function that calls PacketHandler::readTxRx() function for reading 4 byte data @description The function calls PacketHandler::readTxRx(), @description gets 4 byte data from the packet.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for read
length	Length of the data for read
data	Data extracted from the packet
error	Mercury hardware error

Returns: communication results which come from PacketHandler::txRxPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ readRx()

virtual int mercury::PacketHandler::readRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

pure virtual

The function that receives the packet and reads the data in the packet @description The function receives the packet which might be come by previous INST_READ instruction packet transmission, @description gets the data from the packet.

Parameters

port	PortHandler instance
length	Length of the data for read
data	Data extracted from the packet
error	Mercury hardware error

Returns: communication results which come from PacketHandler::rxPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ readTx()

virtual int mercury::PacketHandler::readTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length
	)

pure virtual

The function that transmits INST_READ instruction packet @description The function makes an instruction packet with INST_READ, @description transmits the packet with PacketHandler::txPacket(). @description It breaks out @description when it tries to transmit to BROADCAST_ID.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for read
length	Length of the data for read

Returns: COMM_NOT_AVAILABLE; when it tries to transmit to BROADCAST_ID; or the other communication results which come from PacketHandler::txPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ readTxRx()

virtual int mercury::PacketHandler::readTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

pure virtual

The function that transmits INST_READ instruction packet, and read data from received packet @description The function makes an instruction packet with INST_READ, @description transmits and receives the packet with PacketHandler::txRxPacket(), @description gets the data from the packet. @description It breaks out @description when it tries to transmit to BROADCAST_ID.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for read
length	Length of the data for read
data	Data extracted from the packet
error	Mercury hardware error

Returns: COMM_NOT_AVAILABLE; when it tries to transmit to BROADCAST_ID; or the other communication results which come from PacketHandler::txRxPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ reboot()

virtual int mercury::PacketHandler::reboot	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = `0`
	)

pure virtual

The function that makes Mercury reboot @description The function makes an instruction packet with INST_REBOOT, @description transmits the packet with PacketHandler::txRxPacket(), @description then Mercury reboots. @description During reboot, its LED will blink.

Parameters

port	PortHandler instance
id	Mercury ID
error	Mercury hardware error

Returns: COMM_NOT_AVAILABLE

Implemented in mercury::Protocol2PacketHandler.

◆ regWriteTxOnly()

virtual int mercury::PacketHandler::regWriteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data
	)

pure virtual

The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Mercury register @description The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Mercury register, @description transmits the packet with PacketHandler::txPacket(). @description The data written in the register will act when INST_ACTION instruction packet is transmitted to the Mercury.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for write
length	Length of the data for write
data	Data for write

Returns: communication results which come from PacketHandler::txPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ regWriteTxRx()

virtual int mercury::PacketHandler::regWriteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

pure virtual

The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Mercury register, and receives the packet @description The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Mercury register, @description transmits and receives the packet with PacketHandler::txRxPacket(), @description gets the error from the packet. @description The data written in the register will act when INST_ACTION instruction packet is transmitted to the Mercury.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for write
length	Length of the data for write
data	Data for write
error	Mercury hardware error

Returns: communication results which come from PacketHandler::txRxPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ rxPacket()

virtual int mercury::PacketHandler::rxPacket	(	PortHandler *	port,
		uint8_t *	rxpacket
	)

pure virtual

The function that receives packet (rxpacket) during designated time via PortHandler port @description The function repeatedly tries to receive rxpacket by PortHandler::readPort() function. @description It breaks out @description when PortHandler::isPacketTimeout() shows the timeout, @description when rxpacket seemed as corrupted, or @description when nothing received.

Parameters

port	PortHandler instance
rxpacket	received packet

Returns: COMM_RX_CORRUPT; when it received the packet but it couldn't find header in the packet; when it found header in the packet but the id, length or error value is out of range; when it received the packet but it is shorted than expected; COMM_RX_TIMEOUT; when there is no rxpacket received until PortHandler::isPacketTimeout() shows the timeout; COMM_SUCCESS; when rxpacket passes checksum test; or COMM_RX_FAIL

Implemented in mercury::Protocol2PacketHandler.

◆ synchronise()

virtual int mercury::PacketHandler::synchronise	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = `0`
	)

pure virtual

The function that synchronises the servo @description This function will synchronise the target Mercury servo. @description transmits the packet with PacketHandler::txRxPacket().

Parameters

port	PortHandler instance
id	Mercury ID
force	synchronisation
error	Mercury hardware error

Returns: communication results

Implemented in mercury::Protocol2PacketHandler.

◆ syncReadTx()

virtual int mercury::PacketHandler::syncReadTx	(	PortHandler *	port,
		uint16_t	start_address,
		uint16_t	data_length,
		uint8_t *	param,
		uint16_t	param_length
	)

pure virtual

The function that transmits INST_SYNC_READ instruction packet @description The function makes an instruction packet with INST_SYNC_READ, @description transmits the packet with PacketHandler::txPacket().

Parameters

port	PortHandler instance
start_address	Address of the data for Sync Read
data_length	Length of the data for Sync Read
param	Parameter for Sync Read
param_length	Length of the data for Sync Read

Returns: communication results which come from PacketHandler::txPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ syncWriteTxOnly()

virtual int mercury::PacketHandler::syncWriteTxOnly	(	PortHandler *	port,
		uint16_t	start_address,
		uint16_t	data_length,
		uint8_t *	param,
		uint16_t	param_length
	)

pure virtual

The function that transmits INST_SYNC_WRITE instruction packet @description The function makes an instruction packet with INST_SYNC_WRITE, @description transmits the packet with PacketHandler::txRxPacket().

Parameters

port	PortHandler instance
start_address	Address of the data for Sync Write
data_length	Length of the data for Sync Write
param	Parameter for Sync Write
param_length	Length of the data for Sync Write

Returns: communication results which come from PacketHandler::txRxPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ txPacket()

virtual int mercury::PacketHandler::txPacket	(	PortHandler *	port,
		uint8_t *	txpacket
	)

pure virtual

The function that transmits the instruction packet txpacket via PortHandler port. @description The function clears the port buffer by PortHandler::clearPort() function, @description then transmits txpacket by PortHandler::writePort() function. @description The function activates only when the port is not busy and when the packet is already written on the port buffer.

Parameters

port	PortHandler instance
txpacket	packet for transmission

Returns: COMM_PORT_BUSY; when the port is already in use; COMM_TX_ERROR; when txpacket is out of range described by TXPACKET_MAX_LEN; COMM_TX_FAIL; when written packet is shorter than expected; or COMM_SUCCESS

Implemented in mercury::Protocol2PacketHandler.

◆ txRxPacket()

virtual int mercury::PacketHandler::txRxPacket	(	PortHandler *	port,
		uint8_t *	txpacket,
		uint8_t *	rxpacket,
		uint8_t *	error = `0`
	)

pure virtual

The function that transmits packet (txpacket) and receives packet (rxpacket) during designated time via PortHandler port @description The function calls PacketHandler::txPacket(), @description and calls PacketHandler::rxPacket() if it succeeds PacketHandler::txPacket(). @description It breaks out @description when it fails PacketHandler::txPacket(), @description when txpacket is called by PacketHandler::broadcastPing() / PacketHandler::syncWriteTxOnly() / PacketHandler::regWriteTxOnly / PacketHandler::action.

Parameters

port	PortHandler instance
txpacket	packet for transmission
rxpacket	received packet

Returns: COMM_SUCCESS; when it succeeds PacketHandler::txPacket() and PacketHandler::rxPacket(); or the other communication results which come from PacketHandler::txPacket() and PacketHandler::rxPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ write1ByteTxOnly()

virtual int mercury::PacketHandler::write1ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t	data
	)

pure virtual

The function that calls PacketHandler::writeTxOnly() for writing 1 byte data @description The function calls PacketHandler::writeTxOnly() for writing 1 byte data.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for write
data	Data for write

Returns: communication results which come from PacketHandler::writeTxOnly()

Implemented in mercury::Protocol2PacketHandler.

◆ write1ByteTxRx()

virtual int mercury::PacketHandler::write1ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t	data,
		uint8_t *	error = `0`
	)

pure virtual

The function that calls PacketHandler::writeTxRx() for writing 1 byte data and receives the packet @description The function calls PacketHandler::writeTxRx() for writing 1 byte data and receves the packet, @description gets the error from the packet.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for write
data	Data for write
error	Mercury hardware error

Returns: communication results which come from PacketHandler::writeTxRx()

Implemented in mercury::Protocol2PacketHandler.

◆ write2ByteTxOnly()

virtual int mercury::PacketHandler::write2ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	data
	)

pure virtual

The function that calls PacketHandler::writeTxOnly() for writing 2 byte data @description The function calls PacketHandler::writeTxOnly() for writing 2 byte data.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for write
data	Data for write

Returns: communication results which come from PacketHandler::writeTxOnly()

Implemented in mercury::Protocol2PacketHandler.

◆ write2ByteTxRx()

virtual int mercury::PacketHandler::write2ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	data,
		uint8_t *	error = `0`
	)

pure virtual

The function that calls PacketHandler::writeTxRx() for writing 2 byte data and receives the packet @description The function calls PacketHandler::writeTxRx() for writing 2 byte data and receves the packet, @description gets the error from the packet.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for write
data	Data for write
error	Mercury hardware error

Returns: communication results which come from PacketHandler::writeTxRx()

Implemented in mercury::Protocol2PacketHandler.

◆ write4ByteTxOnly()

virtual int mercury::PacketHandler::write4ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t	data
	)

pure virtual

The function that calls PacketHandler::writeTxOnly() for writing 4 byte data @description The function calls PacketHandler::writeTxOnly() for writing 4 byte data.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for write
data	Data for write

Returns: communication results which come from PacketHandler::writeTxOnly()

Implemented in mercury::Protocol2PacketHandler.

◆ write4ByteTxRx()

virtual int mercury::PacketHandler::write4ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t	data,
		uint8_t *	error = `0`
	)

pure virtual

The function that calls PacketHandler::writeTxRx() for writing 4 byte data and receives the packet @description The function calls PacketHandler::writeTxRx() for writing 4 byte data and receves the packet, @description gets the error from the packet.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for write
data	Data for write
error	Mercury hardware error

Returns: communication results which come from PacketHandler::writeTxRx()

Implemented in mercury::Protocol2PacketHandler.

◆ writeTxOnly()

virtual int mercury::PacketHandler::writeTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data
	)

pure virtual

The function that transmits INST_WRITE instruction packet with the data for write @description The function makes an instruction packet with INST_WRITE and the data for write, @description transmits the packet with PacketHandler::txPacket().

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for write
length	Length of the data for write
data	Data for write

Returns: communication results which come from PacketHandler::txPacket()

Implemented in mercury::Protocol2PacketHandler.

◆ writeTxRx()

virtual int mercury::PacketHandler::writeTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

pure virtual

The function that transmits INST_WRITE instruction packet with the data for write, and receives the packet @description The function makes an instruction packet with INST_WRITE and the data for write, @description transmits and receives the packet with PacketHandler::txRxPacket(), @description gets the error from the packet.

Parameters

port	PortHandler instance
id	Mercury ID
address	Address of the data for write
length	Length of the data for write
data	Data for write
error	Mercury hardware error

Returns: communication results which come from PacketHandler::txRxPacket()

Implemented in mercury::Protocol2PacketHandler.

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ PacketHandler()

◆ ~PacketHandler()

Member Function Documentation

◆ action()

◆ broadcastPing()

◆ clearMultiTurn()

◆ factoryReset()

◆ getPacketHandler()

◆ getProtocolVersion()

◆ getRxPacketError()

◆ getTxRxResult()

◆ ping() [1/2]

◆ ping() [2/2]

◆ read1ByteRx()

◆ read1ByteTx()

◆ read1ByteTxRx()

◆ read2ByteRx()

◆ read2ByteTx()

◆ read2ByteTxRx()

◆ read4ByteRx()

◆ read4ByteTx()

◆ read4ByteTxRx()

◆ readRx()

◆ readTx()

◆ readTxRx()

◆ reboot()

◆ regWriteTxOnly()

◆ regWriteTxRx()

◆ rxPacket()

◆ synchronise()

◆ syncReadTx()

◆ syncWriteTxOnly()

◆ txPacket()

◆ txRxPacket()

◆ write1ByteTxOnly()

◆ write1ByteTxRx()

◆ write2ByteTxOnly()

◆ write2ByteTxRx()

◆ write4ByteTxOnly()

◆ write4ByteTxRx()

◆ writeTxOnly()

◆ writeTxRx()