FastSyncRead, FastBulkRead implementation

Author: honghyun79

c++/include/dynamixel_sdk/dynamixel_sdk.h

@@ -27,6 +27,8 @@
 #include "group_bulk_write.h"
 #include "group_sync_read.h"
 #include "group_sync_write.h"
+#include "group_fast_sync_read.h"
+#include "group_fast_bulk_read.h"
 #include "packet_handler.h"
 #include "port_handler.h"
 

c++/include/dynamixel_sdk/group_bulk_read.h

@@ -23,37 +23,28 @@
 #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_
 
 
-#include <map>
-#include <vector>
 #include "port_handler.h"
 #include "packet_handler.h"
+#include "group_handler.h"
 
 namespace dynamixel
 {
 
 ////////////////////////////////////////////////////////////////////////////////
 /// @brief The class for reading multiple Dynamixel data from different addresses with different lengths at once
 ////////////////////////////////////////////////////////////////////////////////
-class WINDECLSPEC GroupBulkRead
+class WINDECLSPEC GroupBulkRead : public GroupHandler
 {
- private:
-  PortHandler    *port_;
-  PacketHandler  *ph_;
+protected:
+    std::map<uint8_t, uint16_t> address_list_;  // <id, start_address>
+    std::map<uint8_t, uint16_t> length_list_;   // <id, data_length>
+    std::map<uint8_t, uint8_t *> error_list_;   // <id, error>
 
-  std::vector<uint8_t>            id_list_;
-  std::map<uint8_t, uint16_t>     address_list_;  // <id, start_address>
-  std::map<uint8_t, uint16_t>     length_list_;   // <id, data_length>
-  std::map<uint8_t, uint8_t *>    data_list_;     // <id, data>
-  std::map<uint8_t, uint8_t *>    error_list_;    // <id, error>
+    bool last_result_;
 
-  bool            last_result_;
-  bool            is_param_changed_;
+    void makeParam();
 
-  uint8_t        *param_;
-
-  void    makeParam();
-
- public:
+public:
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that Initializes instance for Bulk Read
   /// @param port PortHandler instance
@@ -66,18 +57,6 @@ class WINDECLSPEC GroupBulkRead
   ////////////////////////////////////////////////////////////////////////////////
   ~GroupBulkRead() { clearParam(); }
 
-  ////////////////////////////////////////////////////////////////////////////////
-  /// @brief The function that returns PortHandler instance
-  /// @return PortHandler instance
-  ////////////////////////////////////////////////////////////////////////////////
-  PortHandler     *getPortHandler()   { return port_; }
-
-  ////////////////////////////////////////////////////////////////////////////////
-  /// @brief The function that returns PacketHandler instance
-  /// @return PacketHandler instance
-  ////////////////////////////////////////////////////////////////////////////////
-  PacketHandler   *getPacketHandler() { return ph_; }
-
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that adds id, start_address, data_length to the Bulk Read list
   /// @param id Dynamixel ID

c++/include/dynamixel_sdk/group_bulk_write.h

@@ -23,36 +23,27 @@
 #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_
 
 
-#include <map>
-#include <vector>
 #include "port_handler.h"
 #include "packet_handler.h"
+#include "group_handler.h"
 
 namespace dynamixel
 {
 
 ////////////////////////////////////////////////////////////////////////////////
 /// @brief The class for writing multiple Dynamixel data from different addresses with different lengths at once
 ////////////////////////////////////////////////////////////////////////////////
-class WINDECLSPEC GroupBulkWrite
+class WINDECLSPEC GroupBulkWrite : public GroupHandler
 {
- private:
-  PortHandler    *port_;
-  PacketHandler  *ph_;
+private:
+  std::map<uint8_t, uint16_t> address_list_;  // <id, start_address>
+  std::map<uint8_t, uint16_t> length_list_;   // <id, data_length>
 
-  std::vector<uint8_t>            id_list_;
-  std::map<uint8_t, uint16_t>     address_list_;  // <id, start_address>
-  std::map<uint8_t, uint16_t>     length_list_;   // <id, data_length>
-  std::map<uint8_t, uint8_t *>    data_list_;     // <id, data>
+  uint16_t param_length_;
 
-  bool            is_param_changed_;
+  void makeParam();
 
-  uint8_t        *param_;
-  uint16_t        param_length_;
-
-  void    makeParam();
-
- public:
+public:
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that Initializes instance for Bulk Write
   /// @param port PortHandler instance
@@ -65,18 +56,6 @@ class WINDECLSPEC GroupBulkWrite
   ////////////////////////////////////////////////////////////////////////////////
   ~GroupBulkWrite() { clearParam(); }
 
-  ////////////////////////////////////////////////////////////////////////////////
-  /// @brief The function that returns PortHandler instance
-  /// @return PortHandler instance
-  ////////////////////////////////////////////////////////////////////////////////
-  PortHandler     *getPortHandler()   { return port_; }
-
-  ////////////////////////////////////////////////////////////////////////////////
-  /// @brief The function that returns PacketHandler instance
-  /// @return PacketHandler instance
-  ////////////////////////////////////////////////////////////////////////////////
-  PacketHandler   *getPacketHandler() { return ph_; }
-
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that adds id, start_address, data_length to the Bulk Write list
   /// @param id Dynamixel ID

c++/include/dynamixel_sdk/group_fast_bulk_read.h

@@ -0,0 +1,48 @@
+/*******************************************************************************
+* 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.
+*******************************************************************************/
+
+////////////////////////////////////////////////////////////////////////////////
+/// @file The file for Dynamixel Fast Bulk Read
+/// @author Honghyun Kim
+////////////////////////////////////////////////////////////////////////////////
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPFASTBULKREAD_H
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPFASTBULKREAD_H
+
+
+#include "group_bulk_read.h"
+
+namespace dynamixel
+{
+
+class WINDECLSPEC GroupFastBulkRead : public GroupBulkRead
+{
+public:
+    GroupFastBulkRead(PortHandler *port, PacketHandler *ph);
+    ~GroupFastBulkRead() { clearParam(); }
+
+    int txPacket();
+    int rxPacket();
+    int txRxPacket();
+
+private:
+    void makeParam();
+};
+
+}
+
+
+#endif // DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPFASTBULKREAD_H

c++/include/dynamixel_sdk/group_fast_sync_read.h

@@ -0,0 +1,45 @@
+/*******************************************************************************
+* 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.
+*******************************************************************************/
+
+////////////////////////////////////////////////////////////////////////////////
+/// @file The file for Dynamixel Fast Sync Read
+/// @author Honghyun Kim
+////////////////////////////////////////////////////////////////////////////////
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPFASTSYNCREAD_H
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPFASTSYNCREAD_H
+
+
+#include "group_sync_read.h"
+
+namespace dynamixel
+{
+
+class WINDECLSPEC GroupFastSyncRead : public GroupSyncRead
+{
+public:
+    GroupFastSyncRead(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length);
+    ~GroupFastSyncRead() { clearParam(); }
+
+    int txPacket();
+    int rxPacket();
+    int txRxPacket();
+};
+
+}
+
+
+#endif // DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPFASTSYNCREAD_H

c++/include/dynamixel_sdk/group_handler.h

@@ -0,0 +1,57 @@
+/*******************************************************************************
+* 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.
+*******************************************************************************/
+
+////////////////////////////////////////////////////////////////////////////////
+/// @file The file for Group Handler
+/// @author Honghyun Kim
+////////////////////////////////////////////////////////////////////////////////
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPHANDLER_H
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPHANDLER_H
+
+
+#include <map>
+#include <vector>
+#include "port_handler.h"
+#include "packet_handler.h"
+
+namespace dynamixel
+{
+
+class WINDECLSPEC GroupHandler
+{
+public:
+    GroupHandler(PortHandler *port, PacketHandler *ph);
+
+    PortHandler *getPortHandler() { return port_; }
+    PacketHandler *getPacketHandler() { return ph_; }
+
+protected:
+    PortHandler *port_;
+    PacketHandler *ph_;
+
+    std::vector<uint8_t> id_list_;
+    std::map<uint8_t, uint8_t *> data_list_;     // <id, data>
+
+    bool is_param_changed_;
+
+    uint8_t *param_;
+};
+
+}
+
+
+#endif // DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPHANDLER_H

c++/include/dynamixel_sdk/group_sync_read.h

@@ -23,37 +23,29 @@
 #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_
 
 
-#include <map>
-#include <vector>
 #include "port_handler.h"
 #include "packet_handler.h"
+#include "group_handler.h"
 
 namespace dynamixel
 {
 
 ////////////////////////////////////////////////////////////////////////////////
 /// @brief The class for reading multiple Dynamixel data from same address with same length at once
 ////////////////////////////////////////////////////////////////////////////////
-class WINDECLSPEC GroupSyncRead
+class WINDECLSPEC GroupSyncRead : public GroupHandler
 {
- private:
-  PortHandler    *port_;
-  PacketHandler  *ph_;
+protected:
+    std::map<uint8_t, uint8_t *> error_list_; // <id, error>
 
-  std::vector<uint8_t>            id_list_;
-  std::map<uint8_t, uint8_t *>    data_list_;  // <id, data>
-  std::map<uint8_t, uint8_t *>    error_list_; // <id, error>
+    bool last_result_;
 
-  bool            last_result_;
-  bool            is_param_changed_;
+    uint16_t start_address_;
+    uint16_t data_length_;
 
-  uint8_t        *param_;
-  uint16_t        start_address_;
-  uint16_t        data_length_;
+    void makeParam();
 
-  void    makeParam();
-
- public:
+public:
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that Initializes instance for Sync Read
   /// @param port PortHandler instance
@@ -68,18 +60,6 @@ class WINDECLSPEC GroupSyncRead
   ////////////////////////////////////////////////////////////////////////////////
   ~GroupSyncRead() { clearParam(); }
 
-  ////////////////////////////////////////////////////////////////////////////////
-  /// @brief The function that returns PortHandler instance
-  /// @return PortHandler instance
-  ////////////////////////////////////////////////////////////////////////////////
-  PortHandler     *getPortHandler()   { return port_; }
-
-  ////////////////////////////////////////////////////////////////////////////////
-  /// @brief The function that returns PacketHandler instance
-  /// @return PacketHandler instance
-  ////////////////////////////////////////////////////////////////////////////////
-  PacketHandler   *getPacketHandler() { return ph_; }
-
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that adds id, start_address, data_length to the Sync Read list
   /// @param id Dynamixel ID