The class for control Mercury by using Protocol2.0. More...

#include <protocol2_packet_handler.h>

Inheritance diagram for mercury::Protocol2PacketHandler:

Public Member Functions
virtual	~Protocol2PacketHandler ()

float	getProtocolVersion ()
	The function that returns Protocol version used in Protocol2PacketHandler (2.0) More...

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

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

int	txPacket (PortHandler port, uint8_t txpacket)
	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...

int	rxPacket (PortHandler port, uint8_t rxpacket)
	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...

int	txRxPacket (PortHandler port, uint8_t txpacket, uint8_t rxpacket, uint8_t error=0)
	The function that transmits packet (txpacket) and receives packet (rxpacket) during designated time via PortHandler port @description The function calls Protocol2PacketHandler::txPacket(), @description and calls Protocol2PacketHandler::rxPacket() if it succeeds Protocol2PacketHandler::txPacket(). @description It breaks out @description when it fails Protocol2PacketHandler::txPacket(), @description when txpacket is called by Protocol2PacketHandler::broadcastPing() / Protocol2PacketHandler::syncWriteTxOnly() / Protocol2PacketHandler::regWriteTxOnly / Protocol2PacketHandler::action. More...

int	ping (PortHandler port, uint8_t id, uint8_t error=0)
	The function that pings Mercury but doesn't take its model number @description The function calls Protocol2PacketHandler::ping() which gets Mercury model number, @description but doesn't carry the model number. More...

int	ping (PortHandler port, uint8_t id, uint16_t model_number, uint8_t *error=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 Protocol2PacketHandler::txRxPacket(), @description and call Protocol2PacketHandler::readTxRx to read model_number in the rx buffer. @description It breaks out @description when it tries to transmit to BROADCAST_ID. More...

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

int	action (PortHandler *port, uint8_t id)
	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 Protocol2PacketHandler::txRxPacket(). @description To use this function, Mercury register should be set by Protocol2PacketHandler::regWriteTxOnly() or Protocol2PacketHandler::regWriteTxRx() More...

int	reboot (PortHandler port, uint8_t id, uint8_t error=0)
	The function that makes Mercury reboot @description The function makes an instruction packet with INST_REBOOT, @description transmits the packet with Protocol2PacketHandler::txRxPacket(), @description then Mercury reboots. @description During reboot, its LED will blink. More...

int	clearMultiTurn (PortHandler port, uint8_t id, uint8_t error=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...

int	factoryReset (PortHandler port, uint8_t id, uint8_t option, uint8_t error=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 Protocol2PacketHandler::txRxPacket(). @description Be careful of the use. More...

int	readTx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length)
	The function that transmits INST_READ instruction packet @description The function makes an instruction packet with INST_READ, @description transmits the packet with Protocol2PacketHandler::txPacket(). @description It breaks out @description when it tries to transmit to BROADCAST_ID. More...

int	readRx (PortHandler port, uint8_t id, uint16_t length, uint8_t data, uint8_t *error=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...

int	readTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data, uint8_t *error=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 Protocol2PacketHandler::txRxPacket(), @description gets the data from the packet. @description It breaks out @description when it tries to transmit to BROADCAST_ID. More...

int	read1ByteTx (PortHandler *port, uint8_t id, uint16_t address)
	The function that calls Protocol2PacketHandler::readTx() function for reading 1 byte data @description The function calls Protocol2PacketHandler::readTx() function for reading 1 byte data. More...

int	read1ByteRx (PortHandler port, uint8_t id, uint8_t data, uint8_t *error=0)
	The function that calls Protocol2PacketHandler::readRx() function and reads 1 byte data on the packet @description The function calls Protocol2PacketHandler::readRx() function, @description gets 1 byte data from the packet. More...

int	read1ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error=0)
	The function that calls Protocol2PacketHandler::readTxRx() function for reading 1 byte data @description The function calls Protocol2PacketHandler::readTxRx(), @description gets 1 byte data from the packet. More...

int	read2ByteTx (PortHandler *port, uint8_t id, uint16_t address)
	The function that calls Protocol2PacketHandler::readTx() function for reading 2 byte data @description The function calls Protocol2PacketHandler::readTx() function for reading 2 byte data. More...

int	read2ByteRx (PortHandler port, uint8_t id, uint16_t data, uint8_t *error=0)
	The function that calls Protocol2PacketHandler::readRx() function and reads 2 byte data on the packet @description The function calls Protocol2PacketHandler::readRx() function, @description gets 2 byte data from the packet. More...

int	read2ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error=0)
	The function that calls Protocol2PacketHandler::readTxRx() function for reading 2 byte data @description The function calls Protocol2PacketHandler::readTxRx(), @description gets 2 byte data from the packet. More...

int	read4ByteTx (PortHandler *port, uint8_t id, uint16_t address)
	The function that calls Protocol2PacketHandler::readTx() function for reading 4 byte data @description The function calls Protocol2PacketHandler::readTx() function for reading 4 byte data. More...

int	read4ByteRx (PortHandler port, uint8_t id, uint32_t data, uint8_t *error=0)
	The function that calls Protocol2PacketHandler::readRx() function and reads 4 byte data on the packet @description The function calls Protocol2PacketHandler::readRx() function, @description gets 4 byte data from the packet. More...

int	read4ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error=0)
	The function that calls Protocol2PacketHandler::readTxRx() function for reading 4 byte data @description The function calls Protocol2PacketHandler::readTxRx(), @description gets 4 byte data from the packet. More...

int	writeTxOnly (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data)
	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 Protocol2PacketHandler::txPacket(). More...

int	writeTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data, uint8_t *error=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 Protocol2PacketHandler::txRxPacket(), @description gets the error from the packet. More...

int	write1ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint8_t data)
	The function that calls Protocol2PacketHandler::writeTxOnly() for writing 1 byte data @description The function calls Protocol2PacketHandler::writeTxOnly() for writing 1 byte data. More...

int	write1ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint8_t data, uint8_t error=0)
	The function that calls Protocol2PacketHandler::writeTxRx() for writing 1 byte data and receives the packet @description The function calls Protocol2PacketHandler::writeTxRx() for writing 1 byte data and receves the packet, @description gets the error from the packet. More...

int	write2ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t data)
	The function that calls Protocol2PacketHandler::writeTxOnly() for writing 2 byte data @description The function calls Protocol2PacketHandler::writeTxOnly() for writing 2 byte data. More...

int	write2ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t data, uint8_t error=0)
	The function that calls Protocol2PacketHandler::writeTxRx() for writing 2 byte data and receives the packet @description The function calls Protocol2PacketHandler::writeTxRx() for writing 2 byte data and receves the packet, @description gets the error from the packet. More...

int	write4ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint32_t data)
	The function that calls Protocol2PacketHandler::writeTxOnly() for writing 4 byte data @description The function calls Protocol2PacketHandler::writeTxOnly() for writing 4 byte data. More...

int	write4ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint32_t data, uint8_t error=0)
	The function that calls Protocol2PacketHandler::writeTxRx() for writing 4 byte data and receives the packet @description The function calls Protocol2PacketHandler::writeTxRx() for writing 4 byte data and receves the packet, @description gets the error from the packet. More...

int	regWriteTxOnly (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data)
	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 Protocol2PacketHandler::txPacket(). @description The data written in the register will act when INST_ACTION instruction packet is transmitted to the Mercury. More...

int	regWriteTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data, uint8_t *error=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 Protocol2PacketHandler::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...

int	syncReadTx (PortHandler port, uint16_t start_address, uint16_t data_length, uint8_t param, uint16_t param_length)
	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 Protocol2PacketHandler::txPacket(). More...

int	syncWriteTxOnly (PortHandler port, uint16_t start_address, uint16_t data_length, uint8_t param, uint16_t param_length)
	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 Protocol2PacketHandler::txRxPacket(). More...

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

Public Member Functions inherited from mercury::PacketHandler
virtual	~PacketHandler ()

Static Public Member Functions
static Protocol2PacketHandler *	getInstance ()
	The function that returns Protocol2PacketHandler instance. More...

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

Additional Inherited Members
Protected Member Functions inherited from mercury::PacketHandler
	PacketHandler ()

Detailed Description

The class for control Mercury by using Protocol2.0.

Definition at line 37 of file protocol2_packet_handler.h.

Constructor & Destructor Documentation

◆ ~Protocol2PacketHandler()

virtual mercury::Protocol2PacketHandler::~Protocol2PacketHandler ( )

inlinevirtual

Definition at line 55 of file protocol2_packet_handler.h.

Member Function Documentation

◆ action()

int Protocol2PacketHandler::action	(	PortHandler *	port,
		uint8_t	id
	)

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 Protocol2PacketHandler::txRxPacket(). @description To use this function, Mercury register should be set by Protocol2PacketHandler::regWriteTxOnly() or Protocol2PacketHandler::regWriteTxRx()

Parameters

port	PortHandler instance
id	Mercury ID

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

Implements mercury::PacketHandler.

Definition at line 591 of file protocol2_packet_handler.cpp.

◆ broadcastPing()

int Protocol2PacketHandler::broadcastPing	(	PortHandler *	port,
		std::vector< uint8_t > &	id_list
	)

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

Implements mercury::PacketHandler.

Definition at line 495 of file protocol2_packet_handler.cpp.

◆ clearMultiTurn()

int Protocol2PacketHandler::clearMultiTurn	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = `0`
	)

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()

Implements mercury::PacketHandler.

Definition at line 616 of file protocol2_packet_handler.cpp.

◆ factoryReset()

int Protocol2PacketHandler::factoryReset	(	PortHandler *	port,
		uint8_t	id,
		uint8_t	option,
		uint8_t *	error = `0`
	)

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 Protocol2PacketHandler::txRxPacket(). @description Be careful of the use.

Parameters

port	PortHandler instance
id	Mercury ID
option	Reset option (0xFF for reset all values / 0x01 for reset all values except ID / 0x02 for reset all values except ID and Baudrate)
error	Mercury hardware error

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

Implements mercury::PacketHandler.

Definition at line 634 of file protocol2_packet_handler.cpp.

◆ getInstance()

static Protocol2PacketHandler* mercury::Protocol2PacketHandler::getInstance ( )

inlinestatic

The function that returns Protocol2PacketHandler instance.

Returns: Protocol2PacketHandler instance

Definition at line 53 of file protocol2_packet_handler.h.

◆ getProtocolVersion()

float mercury::Protocol2PacketHandler::getProtocolVersion ( )

inlinevirtual

The function that returns Protocol version used in Protocol2PacketHandler (2.0)

Returns: 2.0

Implements mercury::PacketHandler.

Definition at line 61 of file protocol2_packet_handler.h.

◆ getRxPacketError()

const char * Protocol2PacketHandler::getRxPacketError ( uint8_t error )

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)

Implements mercury::PacketHandler.

Definition at line 110 of file protocol2_packet_handler.cpp.

◆ getTxRxResult()

const char * Protocol2PacketHandler::getTxRxResult ( int result )

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)

Implements mercury::PacketHandler.

Definition at line 74 of file protocol2_packet_handler.cpp.

◆ ping() [1/2]

int Protocol2PacketHandler::ping	(	PortHandler *	port,
		uint8_t	id,
		uint16_t *	model_number,
		uint8_t *	error = `0`
	)

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 Protocol2PacketHandler::txRxPacket(), @description and call Protocol2PacketHandler::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 Protocol2PacketHandler::txRxPacket() and Protocol2PacketHandler::readTxRx()

Implements mercury::PacketHandler.

Definition at line 473 of file protocol2_packet_handler.cpp.

◆ ping() [2/2]

int Protocol2PacketHandler::ping	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = `0`
	)

virtual

The function that pings Mercury but doesn't take its model number @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::ping()

Implements mercury::PacketHandler.

Definition at line 468 of file protocol2_packet_handler.cpp.

◆ read1ByteRx()

int Protocol2PacketHandler::read1ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol2PacketHandler::readRx() function and reads 1 byte data on the packet @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::readRx()

Implements mercury::PacketHandler.

Definition at line 747 of file protocol2_packet_handler.cpp.

◆ read1ByteTx()

int Protocol2PacketHandler::read1ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)

virtual

The function that calls Protocol2PacketHandler::readTx() function for reading 1 byte data @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::readTx()

Implements mercury::PacketHandler.

Definition at line 743 of file protocol2_packet_handler.cpp.

◆ read1ByteTxRx()

int Protocol2PacketHandler::read1ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol2PacketHandler::readTxRx() function for reading 1 byte data @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::txRxPacket()

Implements mercury::PacketHandler.

Definition at line 755 of file protocol2_packet_handler.cpp.

◆ read2ByteRx()

int Protocol2PacketHandler::read2ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol2PacketHandler::readRx() function and reads 2 byte data on the packet @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::readRx()

Implements mercury::PacketHandler.

Definition at line 768 of file protocol2_packet_handler.cpp.

◆ read2ByteTx()

int Protocol2PacketHandler::read2ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)

virtual

The function that calls Protocol2PacketHandler::readTx() function for reading 2 byte data @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::readTx()

Implements mercury::PacketHandler.

Definition at line 764 of file protocol2_packet_handler.cpp.

◆ read2ByteTxRx()

int Protocol2PacketHandler::read2ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol2PacketHandler::readTxRx() function for reading 2 byte data @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::txRxPacket()

Implements mercury::PacketHandler.

Definition at line 776 of file protocol2_packet_handler.cpp.

◆ read4ByteRx()

int Protocol2PacketHandler::read4ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint32_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol2PacketHandler::readRx() function and reads 4 byte data on the packet @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::readRx()

Implements mercury::PacketHandler.

Definition at line 789 of file protocol2_packet_handler.cpp.

◆ read4ByteTx()

int Protocol2PacketHandler::read4ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)

virtual

The function that calls Protocol2PacketHandler::readTx() function for reading 4 byte data @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::readTx()

Implements mercury::PacketHandler.

Definition at line 785 of file protocol2_packet_handler.cpp.

◆ read4ByteTxRx()

int Protocol2PacketHandler::read4ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol2PacketHandler::readTxRx() function for reading 4 byte data @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::txRxPacket()

Implements mercury::PacketHandler.

Definition at line 797 of file protocol2_packet_handler.cpp.

◆ readRx()

int Protocol2PacketHandler::readRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

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 Protocol2PacketHandler::rxPacket()

Implements mercury::PacketHandler.

Definition at line 675 of file protocol2_packet_handler.cpp.

◆ readTx()

int Protocol2PacketHandler::readTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length
	)

virtual

The function that transmits INST_READ instruction packet @description The function makes an instruction packet with INST_READ, @description transmits the packet with Protocol2PacketHandler::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 Protocol2PacketHandler::txPacket()

Implements mercury::PacketHandler.

Definition at line 648 of file protocol2_packet_handler.cpp.

◆ readTxRx()

int Protocol2PacketHandler::readTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

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 Protocol2PacketHandler::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 Protocol2PacketHandler::txRxPacket()

Implements mercury::PacketHandler.

Definition at line 702 of file protocol2_packet_handler.cpp.

◆ reboot()

int Protocol2PacketHandler::reboot	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = `0`
	)

virtual

The function that makes Mercury reboot @description The function makes an instruction packet with INST_REBOOT, @description transmits the packet with Protocol2PacketHandler::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

Implements mercury::PacketHandler.

Definition at line 603 of file protocol2_packet_handler.cpp.

◆ regWriteTxOnly()

int Protocol2PacketHandler::regWriteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data
	)

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 Protocol2PacketHandler::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 Protocol2PacketHandler::txPacket()

Implements mercury::PacketHandler.

Definition at line 891 of file protocol2_packet_handler.cpp.

◆ regWriteTxRx()

int Protocol2PacketHandler::regWriteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

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 Protocol2PacketHandler::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 Protocol2PacketHandler::txRxPacket()

Implements mercury::PacketHandler.

Definition at line 917 of file protocol2_packet_handler.cpp.

◆ rxPacket()

int Protocol2PacketHandler::rxPacket	(	PortHandler *	port,
		uint8_t *	rxpacket
	)

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

Implements mercury::PacketHandler.

Definition at line 312 of file protocol2_packet_handler.cpp.

◆ synchronise()

int Protocol2PacketHandler::synchronise	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = `0`
	)

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

Implements mercury::PacketHandler.

Definition at line 1000 of file protocol2_packet_handler.cpp.

◆ syncReadTx()

int Protocol2PacketHandler::syncReadTx	(	PortHandler *	port,
		uint16_t	start_address,
		uint16_t	data_length,
		uint8_t *	param,
		uint16_t	param_length
	)

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 Protocol2PacketHandler::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 Protocol2PacketHandler::txPacket()

Implements mercury::PacketHandler.

Definition at line 943 of file protocol2_packet_handler.cpp.

◆ syncWriteTxOnly()

int Protocol2PacketHandler::syncWriteTxOnly	(	PortHandler *	port,
		uint16_t	start_address,
		uint16_t	data_length,
		uint8_t *	param,
		uint16_t	param_length
	)

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 Protocol2PacketHandler::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 {ID1, DATA0, DATA1, ..., DATAn, ID2, DATA0, DATA1, ..., DATAn, ID3, DATA0, DATA1, ..., DATAn}
param_length	Length of the data for Sync Write

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

Implements mercury::PacketHandler.

Definition at line 973 of file protocol2_packet_handler.cpp.

◆ txPacket()

int Protocol2PacketHandler::txPacket	(	PortHandler *	port,
		uint8_t *	txpacket
	)

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

Implements mercury::PacketHandler.

Definition at line 268 of file protocol2_packet_handler.cpp.

◆ txRxPacket()

int Protocol2PacketHandler::txRxPacket	(	PortHandler *	port,
		uint8_t *	txpacket,
		uint8_t *	rxpacket,
		uint8_t *	error = `0`
	)

virtual

The function that transmits packet (txpacket) and receives packet (rxpacket) during designated time via PortHandler port @description The function calls Protocol2PacketHandler::txPacket(), @description and calls Protocol2PacketHandler::rxPacket() if it succeeds Protocol2PacketHandler::txPacket(). @description It breaks out @description when it fails Protocol2PacketHandler::txPacket(), @description when txpacket is called by Protocol2PacketHandler::broadcastPing() / Protocol2PacketHandler::syncWriteTxOnly() / Protocol2PacketHandler::regWriteTxOnly / Protocol2PacketHandler::action.

Parameters

port	PortHandler instance
txpacket	packet for transmission
rxpacket	received packet

Returns: COMM_SUCCESS; when it succeeds Protocol2PacketHandler::txPacket() and Protocol2PacketHandler::rxPacket(); or the other communication results which come from Protocol2PacketHandler::txPacket() and Protocol2PacketHandler::rxPacket()

Implements mercury::PacketHandler.

Definition at line 428 of file protocol2_packet_handler.cpp.

◆ write1ByteTxOnly()

int Protocol2PacketHandler::write1ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t	data
	)

virtual

The function that calls Protocol2PacketHandler::writeTxOnly() for writing 1 byte data @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::writeTxOnly()

Implements mercury::PacketHandler.

Definition at line 858 of file protocol2_packet_handler.cpp.

◆ write1ByteTxRx()

int Protocol2PacketHandler::write1ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol2PacketHandler::writeTxRx() for writing 1 byte data and receives the packet @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::writeTxRx()

Implements mercury::PacketHandler.

Definition at line 863 of file protocol2_packet_handler.cpp.

◆ write2ByteTxOnly()

int Protocol2PacketHandler::write2ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	data
	)

virtual

The function that calls Protocol2PacketHandler::writeTxOnly() for writing 2 byte data @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::writeTxOnly()

Implements mercury::PacketHandler.

Definition at line 869 of file protocol2_packet_handler.cpp.

◆ write2ByteTxRx()

int Protocol2PacketHandler::write2ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol2PacketHandler::writeTxRx() for writing 2 byte data and receives the packet @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::writeTxRx()

Implements mercury::PacketHandler.

Definition at line 874 of file protocol2_packet_handler.cpp.

◆ write4ByteTxOnly()

int Protocol2PacketHandler::write4ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t	data
	)

virtual

The function that calls Protocol2PacketHandler::writeTxOnly() for writing 4 byte data @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::writeTxOnly()

Implements mercury::PacketHandler.

Definition at line 880 of file protocol2_packet_handler.cpp.

◆ write4ByteTxRx()

int Protocol2PacketHandler::write4ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol2PacketHandler::writeTxRx() for writing 4 byte data and receives the packet @description The function calls Protocol2PacketHandler::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 Protocol2PacketHandler::writeTxRx()

Implements mercury::PacketHandler.

Definition at line 885 of file protocol2_packet_handler.cpp.

◆ writeTxOnly()

int Protocol2PacketHandler::writeTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data
	)

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 Protocol2PacketHandler::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 Protocol2PacketHandler::txPacket()

Implements mercury::PacketHandler.

Definition at line 806 of file protocol2_packet_handler.cpp.

◆ writeTxRx()

int Protocol2PacketHandler::writeTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

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 Protocol2PacketHandler::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 Protocol2PacketHandler::txRxPacket()

Implements mercury::PacketHandler.

Definition at line 832 of file protocol2_packet_handler.cpp.

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

c++/include/mercury_sdk/protocol2_packet_handler.h
c++/src/mercury_sdk/protocol2_packet_handler.cpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~Protocol2PacketHandler()

Member Function Documentation

◆ action()

◆ broadcastPing()

◆ clearMultiTurn()

◆ factoryReset()

◆ getInstance()

◆ 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()