Merge pull request #68 from Toreno96/develop

Resolve ROBOTIS-GIT/DynamixelSDK#67 (C++)

c++/include/dynamixel_sdk/packet_handler.h

@@ -90,7 +90,9 @@ class WINDECLSPEC PacketHandler
 
   virtual float   getProtocolVersion() = 0;
 
+  virtual const char *getTxRxResult(int result) = 0;
   virtual void    printTxRxResult(int result) = 0;
+  virtual const char *getRxPacketError(uint8_t error) = 0;
   virtual void    printRxPacketError(uint8_t error) = 0;
 
   virtual int txPacket        (PortHandler *port, uint8_t *txpacket) = 0;

c++/include/dynamixel_sdk/protocol1_packet_handler.h

@@ -53,7 +53,9 @@ class WINDECLSPEC Protocol1PacketHandler : public PacketHandler
 
   float   getProtocolVersion() { return 1.0; }
 
+  const char *getTxRxResult(int result);
   void    printTxRxResult(int result);
+  const char *getRxPacketError(uint8_t error);
   void    printRxPacketError(uint8_t error);
 
   int txPacket        (PortHandler *port, uint8_t *txpacket);

c++/include/dynamixel_sdk/protocol2_packet_handler.h

@@ -57,7 +57,9 @@ class WINDECLSPEC Protocol2PacketHandler : public PacketHandler
 
   float   getProtocolVersion() { return 2.0; }
 
+  const char *getTxRxResult(int result);
   void    printTxRxResult(int result);
+  const char *getRxPacketError(uint8_t error);
   void    printRxPacketError(uint8_t error);
 
   int txPacket        (PortHandler *port, uint8_t *txpacket);

c++/src/dynamixel_sdk/protocol1_packet_handler.cpp

@@ -65,73 +65,76 @@ Protocol1PacketHandler *Protocol1PacketHandler::unique_instance_ = new Protocol1
 
 Protocol1PacketHandler::Protocol1PacketHandler() { }
 
-void Protocol1PacketHandler::printTxRxResult(int result)
+const char *Protocol1PacketHandler::getTxRxResult(int result)
 {
   switch(result)
   {
-  case COMM_SUCCESS:
-    printf("[TxRxResult] Communication success.\n");
-    break;
+    case COMM_SUCCESS:
+      return "[TxRxResult] Communication success.";
 
-  case COMM_PORT_BUSY:
-    printf("[TxRxResult] Port is in use!\n");
-    break;
+    case COMM_PORT_BUSY:
+      return "[TxRxResult] Port is in use!";
 
-  case COMM_TX_FAIL:
-    printf("[TxRxResult] Failed transmit instruction packet!\n");
-    break;
+    case COMM_TX_FAIL:
+      return "[TxRxResult] Failed transmit instruction packet!";
 
-  case COMM_RX_FAIL:
-    printf("[TxRxResult] Failed get status packet from device!\n");
-    break;
+    case COMM_RX_FAIL:
+      return "[TxRxResult] Failed get status packet from device!";
 
-  case COMM_TX_ERROR:
-    printf("[TxRxResult] Incorrect instruction packet!\n");
-    break;
+    case COMM_TX_ERROR:
+      return "[TxRxResult] Incorrect instruction packet!";
 
-  case COMM_RX_WAITING:
-    printf("[TxRxResult] Now recieving status packet!\n");
-    break;
+    case COMM_RX_WAITING:
+      return "[TxRxResult] Now recieving status packet!";
 
-  case COMM_RX_TIMEOUT:
-    printf("[TxRxResult] There is no status packet!\n");
-    break;
+    case COMM_RX_TIMEOUT:
+      return "[TxRxResult] There is no status packet!";
 
-  case COMM_RX_CORRUPT:
-    printf("[TxRxResult] Incorrect status packet!\n");
-    break;
+    case COMM_RX_CORRUPT:
+      return "[TxRxResult] Incorrect status packet!";
 
-  case COMM_NOT_AVAILABLE:
-    printf("[TxRxResult] Protocol does not support This function!\n");
-    break;
+    case COMM_NOT_AVAILABLE:
+      return "[TxRxResult] Protocol does not support This function!";
 
-  default:
-    break;
+    default:
+      return "";
   }
 }
 
-void Protocol1PacketHandler::printRxPacketError(uint8_t error)
+void Protocol1PacketHandler::printTxRxResult(int result)
+{
+  printf("%s\n", getTxRxResult(result));
+}
+
+const char *Protocol1PacketHandler::getRxPacketError(uint8_t error)
 {
   if (error & ERRBIT_VOLTAGE)
-    printf("[RxPacketError] Input voltage error!\n");
+    return "[RxPacketError] Input voltage error!";
 
   if (error & ERRBIT_ANGLE)
-    printf("[RxPacketError] Angle limit error!\n");
+    return "[RxPacketError] Angle limit error!";
 
   if (error & ERRBIT_OVERHEAT)
-    printf("[RxPacketError] Overheat error!\n");
+    return "[RxPacketError] Overheat error!";
 
   if (error & ERRBIT_RANGE)
-    printf("[RxPacketError] Out of range error!\n");
+    return "[RxPacketError] Out of range error!";
 
   if (error & ERRBIT_CHECKSUM)
-    printf("[RxPacketError] Checksum error!\n");
+    return "[RxPacketError] Checksum error!";
 
   if (error & ERRBIT_OVERLOAD)
-    printf("[RxPacketError] Overload error!\n");
+    return "[RxPacketError] Overload error!";
 
   if (error & ERRBIT_INSTRUCTION)
-    printf("[RxPacketError] Instruction code error!\n");
+    return "[RxPacketError] Instruction code error!";
+
+  return "";
+}
+
+void Protocol1PacketHandler::printRxPacketError(uint8_t error)
+{
+  printf("%s\n", getRxPacketError(error));
 }
 
 int Protocol1PacketHandler::txPacket(PortHandler *port, uint8_t *txpacket)

c++/src/dynamixel_sdk/protocol2_packet_handler.cpp

@@ -71,97 +71,90 @@ Protocol2PacketHandler *Protocol2PacketHandler::unique_instance_ = new Protocol2
 
 Protocol2PacketHandler::Protocol2PacketHandler() { }
 
-void Protocol2PacketHandler::printTxRxResult(int result)
+const char *Protocol2PacketHandler::getTxRxResult(int result)
 {
   switch(result)
   {
     case COMM_SUCCESS:
-      printf("[TxRxResult] Communication success.\n");
-      break;
+      return "[TxRxResult] Communication success.";
 
     case COMM_PORT_BUSY:
-      printf("[TxRxResult] Port is in use!\n");
-      break;
+      return "[TxRxResult] Port is in use!";
 
     case COMM_TX_FAIL:
-      printf("[TxRxResult] Failed transmit instruction packet!\n");
-      break;
+      return "[TxRxResult] Failed transmit instruction packet!";
 
     case COMM_RX_FAIL:
-      printf("[TxRxResult] Failed get status packet from device!\n");
-      break;
+      return "[TxRxResult] Failed get status packet from device!";
 
     case COMM_TX_ERROR:
-      printf("[TxRxResult] Incorrect instruction packet!\n");
-      break;
+      return "[TxRxResult] Incorrect instruction packet!";
 
     case COMM_RX_WAITING:
-      printf("[TxRxResult] Now recieving status packet!\n");
-      break;
+      return "[TxRxResult] Now recieving status packet!";
 
     case COMM_RX_TIMEOUT:
-      printf("[TxRxResult] There is no status packet!\n");
-      break;
+      return "[TxRxResult] There is no status packet!";
 
     case COMM_RX_CORRUPT:
-      printf("[TxRxResult] Incorrect status packet!\n");
-      break;
+      return "[TxRxResult] Incorrect status packet!";
 
     case COMM_NOT_AVAILABLE:
-      printf("[TxRxResult] Protocol does not support This function!\n");
-      break;
+      return "[TxRxResult] Protocol does not support This function!";
 
     default:
-      break;
+      return "";
   }
 }
 
-void Protocol2PacketHandler::printRxPacketError(uint8_t error)
+void Protocol2PacketHandler::printTxRxResult(int result)
+{
+  printf("%s\n", getTxRxResult(result));
+}
+
+const char *Protocol2PacketHandler::getRxPacketError(uint8_t error)
 {
   if (error & ERRBIT_ALERT)
-    printf("[RxPacketError] Hardware error occurred. Check the error at Control Table (Hardware Error Status)!\n");
+    return "[RxPacketError] Hardware error occurred. Check the error at Control Table (Hardware Error Status)!";
 
   int not_alert_error = error & ~ERRBIT_ALERT;
 
   switch(not_alert_error)
   {
     case 0:
-      break;
+      return "";
 
     case ERRNUM_RESULT_FAIL:
-      printf("[RxPacketError] Failed to process the instruction packet!\n");
-      break;
+      return "[RxPacketError] Failed to process the instruction packet!";
 
     case ERRNUM_INSTRUCTION:
-      printf("[RxPacketError] Undefined instruction or incorrect instruction!\n");
-      break;
+      return "[RxPacketError] Undefined instruction or incorrect instruction!";
 
     case ERRNUM_CRC:
-      printf("[RxPacketError] CRC doesn't match!\n");
-      break;
+      return "[RxPacketError] CRC doesn't match!";
 
     case ERRNUM_DATA_RANGE:
-      printf("[RxPacketError] The data value is out of range!\n");
-      break;
+      return "[RxPacketError] The data value is out of range!";
 
     case ERRNUM_DATA_LENGTH:
-      printf("[RxPacketError] The data length does not match as expected!\n");
-      break;
+      return "[RxPacketError] The data length does not match as expected!";
 
     case ERRNUM_DATA_LIMIT:
-      printf("[RxPacketError] The data value exceeds the limit value!\n");
-      break;
+      return "[RxPacketError] The data value exceeds the limit value!";
 
     case ERRNUM_ACCESS:
-      printf("[RxPacketError] Writing or Reading is not available to target address!\n");
-      break;
+      return "[RxPacketError] Writing or Reading is not available to target address!";
 
     default:
-      printf("[RxPacketError] Unknown error code!\n");
-      break;
+      return "[RxPacketError] Unknown error code!";
   }
 }
 
+void Protocol2PacketHandler::printRxPacketError(uint8_t error)
+{
+  printf("%s\n", getRxPacketError(error));
+}
+
 unsigned short Protocol2PacketHandler::updateCRC(uint16_t crc_accum, uint8_t *data_blk_ptr, uint16_t data_blk_size)
 {
   uint16_t i;