diff --git a/c++/include/dynamixel_sdk/packet_handler.h b/c++/include/dynamixel_sdk/packet_handler.h
index c6ea649553c48ac7380f0f58aef09172c3308e23..bf7b8b0a6f06ec82151750460407a773660766ca 100644
--- a/c++/include/dynamixel_sdk/packet_handler.h
+++ b/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;
diff --git a/c++/include/dynamixel_sdk/protocol1_packet_handler.h b/c++/include/dynamixel_sdk/protocol1_packet_handler.h
index 1023207dc2620da948f575dde566b9be3bf1ee0c..44617d586bd54bd0d40403c432fba0fccef0ffca 100644
--- a/c++/include/dynamixel_sdk/protocol1_packet_handler.h
+++ b/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);
diff --git a/c++/include/dynamixel_sdk/protocol2_packet_handler.h b/c++/include/dynamixel_sdk/protocol2_packet_handler.h
index 0924b0e5a0abcaa9c2f3c8b96ade4b68db1fb688..5e4efb78a0ae87f63a0db7dcd3b382d9df9e05c5 100644
--- a/c++/include/dynamixel_sdk/protocol2_packet_handler.h
+++ b/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);
diff --git a/c++/src/dynamixel_sdk/protocol1_packet_handler.cpp b/c++/src/dynamixel_sdk/protocol1_packet_handler.cpp
index 68d22db012b333204b509b746b9875dde0e6047c..c3df3fc503624fdf5fb4c0dde03f1a1bc6b4be3d 100644
--- a/c++/src/dynamixel_sdk/protocol1_packet_handler.cpp
+++ b/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)
diff --git a/c++/src/dynamixel_sdk/protocol2_packet_handler.cpp b/c++/src/dynamixel_sdk/protocol2_packet_handler.cpp
index 12ab01b3f7b2af34350444e0213851bbaa788605..17eef51d8c71e4332a12413aea9fd9f10498b00b 100644
--- a/c++/src/dynamixel_sdk/protocol2_packet_handler.cpp
+++ b/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;