Merge pull request #48 from ROBOTIS-GIT/develop

ROBOTIS-zerom · web-flow · commit 4b0f03ee5cd6 · 2017-07-11T14:10:21.000+09:00
OPEN-CR.device, robotis_controller changed.
diff --git a/robotis_controller/src/robotis_controller/robotis_controller.cpp b/robotis_controller/src/robotis_controller/robotis_controller.cpp
@@ -911,12 +911,14 @@ void RobotisController::process()
 
           if (dxl->bulk_read_items_.size() > 0)
           {
-            uint32_t data = 0;
+            bool      updated = false;
+            uint32_t  data    = 0;
             for (int i = 0; i < dxl->bulk_read_items_.size(); i++)
             {
               ControlTableItem *item = dxl->bulk_read_items_[i];
               if (port_to_bulk_read_[port_name]->isAvailable(dxl->id_, item->address_, item->data_length_) == true)
               {
+                updated = true;
                 data = port_to_bulk_read_[port_name]->getData(dxl->id_, item->address_, item->data_length_);
 
                 // change dxl_state
@@ -938,7 +940,8 @@ void RobotisController::process()
             }
 
             // -> update time stamp to Robot->dxls[]->dynamixel_state.update_time_stamp
-            dxl->dxl_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);
+            if (updated == true)
+              dxl->dxl_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);
           }
         }
       }
@@ -954,12 +957,14 @@ void RobotisController::process()
 
           if (sensor->bulk_read_items_.size() > 0)
           {
-            uint32_t data = 0;
+            bool      updated = false;
+            uint32_t  data    = 0;
             for (int i = 0; i < sensor->bulk_read_items_.size(); i++)
             {
               ControlTableItem *item = sensor->bulk_read_items_[i];
               if (port_to_bulk_read_[port_name]->isAvailable(sensor->id_, item->address_, item->data_length_) == true)
               {
+                updated = true;
                 data = port_to_bulk_read_[port_name]->getData(sensor->id_, item->address_, item->data_length_);
 
                 // change sensor_state
@@ -968,7 +973,8 @@ void RobotisController::process()
             }
 
             // -> update time stamp to Robot->dxls[]->dynamixel_state.update_time_stamp
-            sensor->sensor_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);
+            if (updated == true)
+              sensor->sensor_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);
           }
         }
       }
diff --git a/robotis_device/devices/sensor/OPEN-CR.device b/robotis_device/devices/sensor/OPEN-CR.device
@@ -10,7 +10,7 @@ device_type = sensor
    4   | baudrate                 | 1      | RW     | EEPROM | 0             | 252         | N
    5   | return_delay_time        | 1      | RW     | EEPROM | 0             | 254         | N
    16  | status_return_level      | 1      | RW     | EEPROM | 0             | 2           | N
-   24  | torque_enable            | 1      | RW     | RAM    | 0             | 1           | N
+   24  | dynamixel_power          | 1      | RW     | RAM    | 0             | 1           | N
    25  | LED                      | 1      | RW     | RAM    | 0             | 7           | N
    26  | LED_RGB                  | 2      | RW     | RAM    | 0             | 32767       | N
    28  | buzzer                   | 2      | RW     | RAM    | 0             | 65535       | N

Original file line number	Diff line number	Diff line change
`@@ -911,12 +911,14 @@ void RobotisController::process()`
`911`	`911`
`912`	`912`	`if (dxl->bulk_read_items_.size() > 0)`
`913`	`913`	`{`
`914`		`- uint32_t data = 0;`
	`914`	`+ bool updated = false;`
	`915`	`+ uint32_t data = 0;`
`915`	`916`	`for (int i = 0; i < dxl->bulk_read_items_.size(); i++)`
`916`	`917`	`{`
`917`	`918`	`ControlTableItem *item = dxl->bulk_read_items_[i];`
`918`	`919`	`if (port_to_bulk_read_[port_name]->isAvailable(dxl->id_, item->address_, item->data_length_) == true)`
`919`	`920`	`{`
	`921`	`+ updated = true;`
`920`	`922`	`data = port_to_bulk_read_[port_name]->getData(dxl->id_, item->address_, item->data_length_);`
`921`	`923`
`922`	`924`	`// change dxl_state`
`@@ -938,7 +940,8 @@ void RobotisController::process()`
`938`	`940`	`}`
`939`	`941`
`940`	`942`	`// -> update time stamp to Robot->dxls[]->dynamixel_state.update_time_stamp`
`941`		`- dxl->dxl_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);`
	`943`	`+ if (updated == true)`
	`944`	`+ dxl->dxl_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);`
`942`	`945`	`}`
`943`	`946`	`}`
`944`	`947`	`}`
`@@ -954,12 +957,14 @@ void RobotisController::process()`
`954`	`957`
`955`	`958`	`if (sensor->bulk_read_items_.size() > 0)`
`956`	`959`	`{`
`957`		`- uint32_t data = 0;`
	`960`	`+ bool updated = false;`
	`961`	`+ uint32_t data = 0;`
`958`	`962`	`for (int i = 0; i < sensor->bulk_read_items_.size(); i++)`
`959`	`963`	`{`
`960`	`964`	`ControlTableItem *item = sensor->bulk_read_items_[i];`
`961`	`965`	`if (port_to_bulk_read_[port_name]->isAvailable(sensor->id_, item->address_, item->data_length_) == true)`
`962`	`966`	`{`
	`967`	`+ updated = true;`
`963`	`968`	`data = port_to_bulk_read_[port_name]->getData(sensor->id_, item->address_, item->data_length_);`
`964`	`969`
`965`	`970`	`// change sensor_state`
`@@ -968,7 +973,8 @@ void RobotisController::process()`
`968`	`973`	`}`
`969`	`974`
`970`	`975`	`// -> update time stamp to Robot->dxls[]->dynamixel_state.update_time_stamp`
`971`		`- sensor->sensor_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);`
	`976`	`+ if (updated == true)`
	`977`	`+ sensor->sensor_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);`
`972`	`978`	`}`
`973`	`979`	`}`
`974`	`980`	`}`