Newer
Older
#!/usr/bin/env python
# -*- coding: utf-8 -*-
################################################################################
# Copyright (c) 2016, ROBOTIS CO., LTD.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
#
# * Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# * Neither the name of ROBOTIS nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
################################################################################
# Author: Ryu Woon Jung (Leon)
dxl_lib = cdll.LoadLibrary("../../c/build/win32/output/dxl_x86_c.dll") # for windows 32bit
# dxl_lib = cdll.LoadLibrary("../../c/build/win64/output/dxl_x64_c.dll") # for windows 64bit
# dxl_lib = cdll.LoadLibrary("../../c/build/linux32/libdxl_x86_c.so") # for linux 32bit
# dxl_lib = cdll.LoadLibrary("../../c/build/linux64/libdxl_x64_c.so") # for linux 64bit
# dxl_lib = cdll.LoadLibrary("../../c/build/linux_sbc/libdxl_sbc_c.so") # for SBC linux
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
# port_handler
portHandler = dxl_lib.portHandler
openPort = dxl_lib.openPort
closePort = dxl_lib.closePort
clearPort = dxl_lib.clearPort
setPortName = dxl_lib.setPortName
getPortName = dxl_lib.getPortName
setBaudRate = dxl_lib.setBaudRate
getBaudRate = dxl_lib.getBaudRate
readPort = dxl_lib.readPort
writePort = dxl_lib.writePort
setPacketTimeout = dxl_lib.setPacketTimeout
setPacketTimeoutMSec = dxl_lib.setPacketTimeoutMSec
isPacketTimeout = dxl_lib.isPacketTimeout
# packet_handler
packetHandler = dxl_lib.packetHandler
printTxRxResult = dxl_lib.printTxRxResult
printRxPacketError = dxl_lib.printRxPacketError
getLastTxRxResult = dxl_lib.getLastTxRxResult
getLastRxPacketError = dxl_lib.getLastRxPacketError
setDataWrite = dxl_lib.setDataWrite
getDataRead = dxl_lib.getDataRead
txPacket = dxl_lib.txPacket
rxPacket = dxl_lib.rxPacket
txRxPacket = dxl_lib.txRxPacket
ping = dxl_lib.ping
pingGetModelNum = dxl_lib.pingGetModelNum
broadcastPing = dxl_lib.broadcastPing
getBroadcastPingResult = dxl_lib.getBroadcastPingResult
reboot = dxl_lib.reboot
factoryReset = dxl_lib.factoryReset
readTx = dxl_lib.readTx
readRx = dxl_lib.readRx
readTxRx = dxl_lib.readTxRx
read1ByteTx = dxl_lib.read1ByteTx
read1ByteRx = dxl_lib.read1ByteRx
read1ByteTxRx = dxl_lib.read1ByteTxRx
read2ByteTx = dxl_lib.read2ByteTx
read2ByteRx = dxl_lib.read2ByteRx
read2ByteTxRx = dxl_lib.read2ByteTxRx
read4ByteTx = dxl_lib.read4ByteTx
read4ByteRx = dxl_lib.read4ByteRx
read4ByteTxRx = dxl_lib.read4ByteTxRx
writeTxOnly = dxl_lib.writeTxOnly
writeTxRx = dxl_lib.writeTxRx
write1ByteTxOnly = dxl_lib.write1ByteTxOnly
write1ByteTxRx = dxl_lib.write1ByteTxRx
write2ByteTxOnly = dxl_lib.write2ByteTxOnly
write2ByteTxRx = dxl_lib.write2ByteTxRx
write4ByteTxOnly = dxl_lib.write4ByteTxOnly
write4ByteTxRx = dxl_lib.write4ByteTxRx
regWriteTxOnly = dxl_lib.regWriteTxOnly
regWriteTxRx = dxl_lib.regWriteTxRx
syncReadTx = dxl_lib.syncReadTx
# syncReadRx -> GroupSyncRead
# syncReadTxRx -> GroupSyncRead
syncWriteTxOnly = dxl_lib.syncWriteTxOnly
bulkReadTx = dxl_lib.bulkReadTx
# bulkReadRx -> GroupBulkRead
# bulkReadTxRx -> GroupBulkRead
bulkWriteTxOnly = dxl_lib.bulkWriteTxOnly
# group_bulk_read
groupBulkRead = dxl_lib.groupBulkRead
groupBulkReadAddParam = dxl_lib.groupBulkReadAddParam
groupBulkReadRemoveParam = dxl_lib.groupBulkReadRemoveParam
groupBulkReadClearParam = dxl_lib.groupBulkReadClearParam
groupBulkReadTxPacket = dxl_lib.groupBulkReadTxPacket
groupBulkReadRxPacket = dxl_lib.groupBulkReadRxPacket
groupBulkReadTxRxPacket = dxl_lib.groupBulkReadTxRxPacket
groupBulkReadIsAvailable = dxl_lib.groupBulkReadIsAvailable
groupBulkReadGetData = dxl_lib.groupBulkReadGetData
#group_bulk_write
groupBulkWrite = dxl_lib.groupBulkWrite
groupBulkWriteAddParam = dxl_lib.groupBulkWriteAddParam
groupBulkWriteRemoveParam = dxl_lib.groupBulkWriteRemoveParam
groupBulkWriteChangeParam = dxl_lib.groupBulkWriteChangeParam
groupBulkWriteClearParam = dxl_lib.groupBulkWriteClearParam
groupBulkWriteTxPacket = dxl_lib.groupBulkWriteTxPacket
#group_sync_read
groupSyncRead = dxl_lib.groupSyncRead
groupSyncReadAddParam = dxl_lib.groupSyncReadAddParam
groupSyncReadRemoveParam = dxl_lib.groupSyncReadRemoveParam
groupSyncReadClearParam = dxl_lib.groupSyncReadClearParam
groupSyncReadTxPacket = dxl_lib.groupSyncReadTxPacket
groupSyncReadRxPacket = dxl_lib.groupSyncReadRxPacket
groupSyncReadTxRxPacket = dxl_lib.groupSyncReadTxRxPacket
groupSyncReadIsAvailable = dxl_lib.groupSyncReadIsAvailable
groupSyncReadGetData = dxl_lib.groupSyncReadGetData
#group_sync_write
groupSyncWrite = dxl_lib.groupSyncWrite
groupSyncWriteAddParam = dxl_lib.groupSyncWriteAddParam
groupSyncWriteRemoveParam = dxl_lib.groupSyncWriteRemoveParam
groupSyncWriteChangeParam = dxl_lib.groupSyncWriteChangeParam
groupSyncWriteClearParam = dxl_lib.groupSyncWriteClearParam
groupSyncWriteTxPacket = dxl_lib.groupSyncWriteTxPacket