group_sync_read.h

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/*******************************************************************************
* Copyright 2017 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
 
 
#ifndef MERCURY_SDK_INCLUDE_MERCURY_SDK_GROUPSYNCREAD_H_
#define MERCURY_SDK_INCLUDE_MERCURY_SDK_GROUPSYNCREAD_H_
 
 
#include "port_handler.h"
#include "packet_handler.h"
#include "group_handler.h"
 
namespace mercury
{
 
class WINDECLSPEC GroupSyncRead : public GroupHandler
{
protected:
    std::map<uint8_t, uint8_t *> error_list_; // <id, error>
 
    bool last_result_;
 
    uint16_t start_address_;
    uint16_t data_length_;
 
    void makeParam();
 
public:
  GroupSyncRead(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length);
 
  ~GroupSyncRead() { clearParam(); }
 
  bool    addParam    (uint8_t id);
 
  void    removeParam (uint8_t id);
 
  void    clearParam  ();
 
  int     txPacket();
 
  int     rxPacket();
 
  int     txRxPacket();
 
  bool        isAvailable (uint8_t id, uint16_t address, uint16_t data_length);
 
  uint32_t    getData     (uint8_t id, uint16_t address, uint16_t data_length);
 
  bool        getError    (uint8_t id, uint8_t* error);
};
 
}
 
 
#endif /* MERCURY_SDK_INCLUDE_MERCURY_SDK_GROUPSYNCREAD_H_ */