- GetData() function changed.

c++/include/dynamixel_sdk/GroupBulkRead.h

@@ -51,9 +51,7 @@ public:
     int     RxPacket();
     int     TxRxPacket();
 
-    bool    GetData(UINT8_T id, UINT16_T address, UINT8_T *data);
-    bool    GetData(UINT8_T id, UINT16_T address, UINT16_T *data);
-    bool    GetData(UINT8_T id, UINT16_T address, UINT32_T *data);
+    bool    GetData(UINT8_T id, UINT16_T address, UINT32_T *data, UINT16_T data_length);
 };
 
 }

c++/include/dynamixel_sdk/GroupSyncRead.h

@@ -51,9 +51,7 @@ public:
     int     RxPacket();
     int     TxRxPacket();
 
-    bool    GetData(UINT8_T id, UINT16_T address, UINT8_T *data);
-    bool    GetData(UINT8_T id, UINT16_T address, UINT16_T *data);
-    bool    GetData(UINT8_T id, UINT16_T address, UINT32_T *data);
+    bool    GetData(UINT8_T id, UINT16_T address, UINT32_T *data, UINT16_T data_length);
 };
 
 }

c++/include/dynamixel_sdk/PortHandler.h

@@ -22,6 +22,7 @@ public:
     static PortHandler *GetPortHandler(const char *port_name);
 
     bool    is_using;
+    float   default_protocol;
 
     virtual ~PortHandler() { }
 

c++/src/dynamixel_sdk/GroupBulkRead.cpp

@@ -155,7 +155,7 @@ int GroupBulkRead::TxRxPacket()
     return RxPacket();
 }
 
-bool GroupBulkRead::GetData(UINT8_T id, UINT16_T address, UINT8_T *data)
+bool GroupBulkRead::GetData(UINT8_T id, UINT16_T address, UINT32_T *data, UINT16_T data_length)
 {
     UINT16_T _start_addr, _data_length;
 
@@ -165,47 +165,24 @@ bool GroupBulkRead::GetData(UINT8_T id, UINT16_T address, UINT8_T *data)
     _start_addr = address_list_[id];
     _data_length = length_list_[id];
 
-    if(address < _start_addr || _start_addr + _data_length - 1 < address)
+    if(address < _start_addr || _start_addr + _data_length - data_length < address)
         return false;
 
-    *data = data_list_[id][address - _start_addr];
-
-    return true;
-}
-
-bool GroupBulkRead::GetData(UINT8_T id, UINT16_T address, UINT16_T *data)
-{
-    UINT16_T _start_addr, _data_length;
-
-    if(last_result_ == false || data_list_.find(id) == data_list_.end())
-        return false;
-
-    _start_addr = address_list_[id];
-    _data_length = length_list_[id];
-
-    if(address < _start_addr || _start_addr + _data_length - 2 < address)
-        return false;
-
-    *data = DXL_MAKEWORD(data_list_[id][address - _start_addr], data_list_[id][address - _start_addr + 1]);
-
-    return true;
-}
-
-bool GroupBulkRead::GetData(UINT8_T id, UINT16_T address, UINT32_T *data)
-{
-    UINT16_T _start_addr, _data_length;
-
-    if(last_result_ == false || data_list_.find(id) == data_list_.end())
-        return false;
-
-    _start_addr = address_list_[id];
-    _data_length = length_list_[id];
-
-    if(address < _start_addr || _start_addr + _data_length - 4 < address)
+    switch(data_length)
+    {
+    case 1:
+        *data = data_list_[id][address - _start_addr];
+        break;
+    case 2:
+        *data = DXL_MAKEWORD(data_list_[id][address - _start_addr], data_list_[id][address - _start_addr + 1]);
+        break;
+    case 4:
+        *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_list_[id][address - _start_addr + 0], data_list_[id][address - _start_addr + 1]),
+                              DXL_MAKEWORD(data_list_[id][address - _start_addr + 2], data_list_[id][address - _start_addr + 3]));
+        break;
+    default:
         return false;
-
-    *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_list_[id][address - _start_addr + 0], data_list_[id][address - _start_addr + 1]),
-                          DXL_MAKEWORD(data_list_[id][address - _start_addr + 2], data_list_[id][address - _start_addr + 3]));
+    }
 
     return true;
 }

c++/src/dynamixel_sdk/GroupSyncRead.cpp

@@ -138,7 +138,7 @@ int GroupSyncRead::TxRxPacket()
     return RxPacket();
 }
 
-bool GroupSyncRead::GetData(UINT8_T id, UINT16_T address, UINT8_T *data)
+bool GroupSyncRead::GetData(UINT8_T id, UINT16_T address, UINT32_T *data, UINT16_T data_length)
 {
     if(last_result_ == false || ph_->GetProtocolVersion() == 1.0)
         return false;
@@ -146,41 +146,24 @@ bool GroupSyncRead::GetData(UINT8_T id, UINT16_T address, UINT8_T *data)
     if(data_list_.find(id) == data_list_.end())
         return false;
 
-    if(address < start_address_ || start_address_ + data_length_ - 1 < address)
+    if(address < start_address_ || start_address_ + data_length_ - data_length < address)
         return false;
 
-    *data = data_list_[id][address - start_address_];
-
-    return true;
-}
-bool GroupSyncRead::GetData(UINT8_T id, UINT16_T address, UINT16_T *data)
-{
-    if(last_result_ == false || ph_->GetProtocolVersion() == 1.0)
-        return false;
-
-    if(data_list_.find(id) == data_list_.end())
-        return false;
-
-    if(address < start_address_ || start_address_ + data_length_ - 2 < address)
-        return false;
-
-    *data = DXL_MAKEWORD(data_list_[id][address - start_address_], data_list_[id][address - start_address_ + 1]);
-
-    return true;
-}
-bool GroupSyncRead::GetData(UINT8_T id, UINT16_T address, UINT32_T *data)
-{
-    if(last_result_ == false || ph_->GetProtocolVersion() == 1.0)
-        return false;
-
-    if(data_list_.find(id) == data_list_.end())
-        return false;
-
-    if(address < start_address_ || start_address_ + data_length_ - 4 < address)
+    switch(data_length)
+    {
+    case 1:
+        *data = data_list_[id][address - start_address_];
+        break;
+    case 2:
+        *data = DXL_MAKEWORD(data_list_[id][address - start_address_], data_list_[id][address - start_address_ + 1]);
+        break;
+    case 4:
+        *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_list_[id][address - start_address_ + 0], data_list_[id][address - start_address_ + 1]),
+                              DXL_MAKEWORD(data_list_[id][address - start_address_ + 2], data_list_[id][address - start_address_ + 3]));
+        break;
+    default:
         return false;
-
-    *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_list_[id][address - start_address_ + 0], data_list_[id][address - start_address_ + 1]),
-                          DXL_MAKEWORD(data_list_[id][address - start_address_ + 2], data_list_[id][address - start_address_ + 3]));
+    }
 
     return true;
 }

c++/src/dynamixel_sdk_linux/PortHandlerLinux.cpp

@@ -29,6 +29,7 @@ PortHandlerLinux::PortHandlerLinux(const char *port_name)
       tx_time_per_byte(0.0)
 {
     is_using = false;
+    default_protocol = 2.0;
     SetPortName(port_name);
 }