diff --git a/c++/include/dynamixel_sdk.h b/c++/include/dynamixel_sdk.h
index a32b2def299f39d56f858cb584b4297c9c4ef114..a0fdf2abd4cfdd75f3c55daf788f66e9e965359b 100644
--- a/c++/include/dynamixel_sdk.h
+++ b/c++/include/dynamixel_sdk.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* dynamixel_sdk.h
*
* Created on: 2016. 3. 8.
- * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_
diff --git a/c++/include/dynamixel_sdk/group_bulk_read.h b/c++/include/dynamixel_sdk/group_bulk_read.h
index c42dbc381c63caa3728a06821476928713daeb1b..29b0dba88b0e60b9b48e363356e318e4301fb4ea 100644
--- a/c++/include/dynamixel_sdk/group_bulk_read.h
+++ b/c++/include/dynamixel_sdk/group_bulk_read.h
@@ -1,3 +1,35 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* group_bulk_read.h
*
diff --git a/c++/include/dynamixel_sdk/group_bulk_write.h b/c++/include/dynamixel_sdk/group_bulk_write.h
index 45d3a2530525438da5f590c19ac1d78a2c2d7985..71bd9ecf652037f8696c7105f036c4d7e789c7f7 100644
--- a/c++/include/dynamixel_sdk/group_bulk_write.h
+++ b/c++/include/dynamixel_sdk/group_bulk_write.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* group_bulk_write.h
*
* Created on: 2016. 2. 2.
- * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_
diff --git a/c++/include/dynamixel_sdk/group_sync_read.h b/c++/include/dynamixel_sdk/group_sync_read.h
index c204ad33d8f56a5a695908abb33a2c1a66c40146..ec2a208298c5dbd090c18cb16b4e90e344ae0e8e 100644
--- a/c++/include/dynamixel_sdk/group_sync_read.h
+++ b/c++/include/dynamixel_sdk/group_sync_read.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* group_sync_read.h
*
* Created on: 2016. 2. 2.
- * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_
diff --git a/c++/include/dynamixel_sdk/group_sync_write.h b/c++/include/dynamixel_sdk/group_sync_write.h
index 944c4a2ddef0202ef9300331ba83a317fb951d53..1c85666084d6afeb47ac56081c8d9355ec558c61 100644
--- a/c++/include/dynamixel_sdk/group_sync_write.h
+++ b/c++/include/dynamixel_sdk/group_sync_write.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* group_sync_write.h
*
* Created on: 2016. 1. 28.
- * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCWRITE_H_
diff --git a/c++/include/dynamixel_sdk/packet_handler.h b/c++/include/dynamixel_sdk/packet_handler.h
index 840a550f5c39aab40c3cb5d8dcb1afe8b6a65154..3816cbba01e9dca2a66d6fbf0aa72f5576394dce 100644
--- a/c++/include/dynamixel_sdk/packet_handler.h
+++ b/c++/include/dynamixel_sdk/packet_handler.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* packet_handler.h
*
* Created on: 2016. 1. 26.
- * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_
diff --git a/c++/include/dynamixel_sdk/port_handler.h b/c++/include/dynamixel_sdk/port_handler.h
index 561dead3cf07a3f00d90529a2d9788cc74ca57fa..93fbeedd4a9c486a5c0bbf05586650e65b35c62a 100644
--- a/c++/include/dynamixel_sdk/port_handler.h
+++ b/c++/include/dynamixel_sdk/port_handler.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* port_handler.h
*
* Created on: 2016. 1. 26.
- * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_H_
diff --git a/c++/include/dynamixel_sdk/protocol1_packet_handler.h b/c++/include/dynamixel_sdk/protocol1_packet_handler.h
index 84bcf1c9e16152a6b55142482832ba83f658cc7f..758556f47cb313d5794b7bb0e7e418d07edf9e8b 100644
--- a/c++/include/dynamixel_sdk/protocol1_packet_handler.h
+++ b/c++/include/dynamixel_sdk/protocol1_packet_handler.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* protocol1_packet_handler.h
*
* Created on: 2016. 1. 26.
- * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_H_
diff --git a/c++/include/dynamixel_sdk/protocol2_packet_handler.h b/c++/include/dynamixel_sdk/protocol2_packet_handler.h
index a775481acb222c53b0b8612d57eb00e2dda93b62..ff7e2d198d3ec4e1b6e89213b9e4950a79355382 100644
--- a/c++/include/dynamixel_sdk/protocol2_packet_handler.h
+++ b/c++/include/dynamixel_sdk/protocol2_packet_handler.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* protocol2_packet_handler.h
*
* Created on: 2016. 1. 26.
- * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_
diff --git a/c++/include/dynamixel_sdk_linux/port_handler_linux.h b/c++/include/dynamixel_sdk_linux/port_handler_linux.h
index 3e7e76583dd91753f4e9753892757ea6534b1746..3a9ed24fa2e7fd7dd51b1662ad77659c423b2439 100644
--- a/c++/include/dynamixel_sdk_linux/port_handler_linux.h
+++ b/c++/include/dynamixel_sdk_linux/port_handler_linux.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* port_handler_linux.h
*
* Created on: 2016. 1. 26.
- * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_
diff --git a/c++/include/dynamixel_sdk_windows/port_handler_windows.h b/c++/include/dynamixel_sdk_windows/port_handler_windows.h
index efe592871270e9c4835e87ccbad429ecc89be5de..09583cb7f8b13bf1585bf156e34c9c329bd4bc9f 100644
--- a/c++/include/dynamixel_sdk_windows/port_handler_windows.h
+++ b/c++/include/dynamixel_sdk_windows/port_handler_windows.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* port_handler_windows.h
*
* Created on: 2016. 4. 26.
-* Author: leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_WINDOWS_PORTHANDLERWINDOWS_H_
diff --git a/c++/src/dynamixel_sdk/group_bulk_read.cpp b/c++/src/dynamixel_sdk/group_bulk_read.cpp
index 0c6a340e4fd06475ffe937c62ab545f1e070b3db..7ae113b4571929b99494c8299ef7c0b66d48e501 100644
--- a/c++/src/dynamixel_sdk/group_bulk_read.cpp
+++ b/c++/src/dynamixel_sdk/group_bulk_read.cpp
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* group_bulk_read.cpp
*
* Created on: 2016. 1. 28.
- * Author: zerom, leon
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
diff --git a/c++/src/dynamixel_sdk/group_bulk_write.cpp b/c++/src/dynamixel_sdk/group_bulk_write.cpp
index 8c38e42cf257028cd16eac008f7153202326376f..7b84151845814942745ee4881657d543200cb15d 100644
--- a/c++/src/dynamixel_sdk/group_bulk_write.cpp
+++ b/c++/src/dynamixel_sdk/group_bulk_write.cpp
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* group_bulk_write.cpp
*
* Created on: 2016. 2. 2.
-* Author: zerom, leon
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
@@ -28,7 +59,7 @@ void GroupBulkWrite::makeParam()
if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0)
return;
- if (param_ != 0)
+ if (param_ != 0)
delete[] param_;
param_ = 0;
diff --git a/c++/src/dynamixel_sdk/group_sync_read.cpp b/c++/src/dynamixel_sdk/group_sync_read.cpp
index cb2fe6d789c715678da4d79eaf433579a48b32cb..13818ccbf5ef20695f2694ce7828fa12b17d0a42 100644
--- a/c++/src/dynamixel_sdk/group_sync_read.cpp
+++ b/c++/src/dynamixel_sdk/group_sync_read.cpp
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* group_sync_read.cpp
*
* Created on: 2016. 2. 2.
- * Author: zerom, leon
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
@@ -27,7 +58,7 @@ GroupSyncRead::GroupSyncRead(PortHandler *port, PacketHandler *ph, uint16_t star
void GroupSyncRead::makeParam()
{
- if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0)
+ if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0)
return;
if (param_ != 0)
@@ -43,7 +74,7 @@ void GroupSyncRead::makeParam()
bool GroupSyncRead::addParam(uint8_t id)
{
- if (ph_->getProtocolVersion() == 1.0)
+ if (ph_->getProtocolVersion() == 1.0)
return false;
if (std::find(id_list_.begin(), id_list_.end(), id) != id_list_.end()) // id already exist
@@ -100,7 +131,7 @@ int GroupSyncRead::rxPacket()
{
last_result_ = false;
- if (ph_->getProtocolVersion() == 1.0)
+ if (ph_->getProtocolVersion() == 1.0)
return COMM_NOT_AVAILABLE;
int cnt = id_list_.size();
diff --git a/c++/src/dynamixel_sdk/group_sync_write.cpp b/c++/src/dynamixel_sdk/group_sync_write.cpp
index 437854a97a874c2b1bac08dbc8ba4e83feeba589..94dea6fefa2d9ee44f1eb155072692d5f442f91f 100644
--- a/c++/src/dynamixel_sdk/group_sync_write.cpp
+++ b/c++/src/dynamixel_sdk/group_sync_write.cpp
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* group_sync_write.cpp
*
* Created on: 2016. 1. 28.
-* Author: zerom, leon
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
diff --git a/c++/src/dynamixel_sdk/packet_handler.cpp b/c++/src/dynamixel_sdk/packet_handler.cpp
index 7d7f940deacfee89546cb8b43515bdbd46713b27..04fdc205952e8abf326c002dd1f5c0b493c49c83 100644
--- a/c++/src/dynamixel_sdk/packet_handler.cpp
+++ b/c++/src/dynamixel_sdk/packet_handler.cpp
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* packet_handler.cpp
*
* Created on: 2016. 1. 26.
- * Author: zerom, leon
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
diff --git a/c++/src/dynamixel_sdk/port_handler.cpp b/c++/src/dynamixel_sdk/port_handler.cpp
index 20c125159727c89045c6f6b2c53e2125a387f994..14c0c288024436489d863911cc1ccb268b88a399 100644
--- a/c++/src/dynamixel_sdk/port_handler.cpp
+++ b/c++/src/dynamixel_sdk/port_handler.cpp
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* port_handler.cpp
*
* Created on: 2016. 2. 5.
- * Author: zerom, leon
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
diff --git a/c++/src/dynamixel_sdk/protocol1_packet_handler.cpp b/c++/src/dynamixel_sdk/protocol1_packet_handler.cpp
index b34a82cd2db973d5b572b52c893babdffb619776..5129164ead43953beb005ad9996914578fa85fff 100644
--- a/c++/src/dynamixel_sdk/protocol1_packet_handler.cpp
+++ b/c++/src/dynamixel_sdk/protocol1_packet_handler.cpp
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* protocol1_packet_handler.cpp
*
* Created on: 2016. 1. 26.
- * Author: zerom, leon
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
diff --git a/c++/src/dynamixel_sdk/protocol2_packet_handler.cpp b/c++/src/dynamixel_sdk/protocol2_packet_handler.cpp
index 29028f5ee151a4ebb021a853d0601617ee47e440..f814229ab6b8845ba4e7cd9b676b236fc5eff663 100644
--- a/c++/src/dynamixel_sdk/protocol2_packet_handler.cpp
+++ b/c++/src/dynamixel_sdk/protocol2_packet_handler.cpp
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* protocol2_packet_handler.cpp
*
* Created on: 2016. 1. 26.
- * Author: zerom, leon
*/
#if defined(_WIN32) || defined(_WIN64)
diff --git a/c++/src/dynamixel_sdk_linux/port_handler_linux.cpp b/c++/src/dynamixel_sdk_linux/port_handler_linux.cpp
index ee16b25c83598d3682ca0967ae08d580cdf8ce3c..0cc11e09e3a469ed9d9196e3e9ae14f79c06e123 100644
--- a/c++/src/dynamixel_sdk_linux/port_handler_linux.cpp
+++ b/c++/src/dynamixel_sdk_linux/port_handler_linux.cpp
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: zerom, Leon Ryu Woon Jung */
+
/*
* port_handler_linux.cpp
*
* Created on: 2016. 1. 26.
- * Author: zerom, leon
*/
#include <stdio.h>
diff --git a/c++/src/dynamixel_sdk_windows/port_handler_windows.cpp b/c++/src/dynamixel_sdk_windows/port_handler_windows.cpp
index 4090ee24f7d9995b195fc3c000cdffc0ffcc44ef..c47e76f4aea60f54cfa1b8a81b11d2f394e3a03c 100644
--- a/c++/src/dynamixel_sdk_windows/port_handler_windows.cpp
+++ b/c++/src/dynamixel_sdk_windows/port_handler_windows.cpp
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* PortHandlerWindows.cpp
*
* Created on: 2016. 4. 06.
-* Author: leon
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
diff --git a/c/include/DynamixelSDK.h b/c/include/DynamixelSDK.h
index f98cf2aaa60b791594dbb66a7fbca64feadd4f62..3ffe7149c2c18120415c4cdb609e58b88316f326 100644
--- a/c/include/DynamixelSDK.h
+++ b/c/include/DynamixelSDK.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* DynamixelSDK.h
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_C_H_
diff --git a/c/include/dynamixel_sdk/GroupBulkRead.h b/c/include/dynamixel_sdk/GroupBulkRead.h
index cb6dcee411c31fddf52f2fbedd6b08e6e313472a..6d2cc1fa6bc3126b96fb0e3ad8317fa4ca7038ce 100644
--- a/c/include/dynamixel_sdk/GroupBulkRead.h
+++ b/c/include/dynamixel_sdk/GroupBulkRead.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* GroupBulkRead.h
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_C_H_
diff --git a/c/include/dynamixel_sdk/GroupBulkWrite.h b/c/include/dynamixel_sdk/GroupBulkWrite.h
index bc5dfa5e34d7e00064ef7dda14ecba28099f5e39..a56c4287d5bee45971c49016ee2b117cfef4486b 100644
--- a/c/include/dynamixel_sdk/GroupBulkWrite.h
+++ b/c/include/dynamixel_sdk/GroupBulkWrite.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* GroupBulkWrite.h
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_C_H_
diff --git a/c/include/dynamixel_sdk/GroupSyncRead.h b/c/include/dynamixel_sdk/GroupSyncRead.h
index d13aadc855bd057892cbd1f207e7b0a582503193..58c2b895cfbd6be9fe741e2106aebb96d2d7a83e 100644
--- a/c/include/dynamixel_sdk/GroupSyncRead.h
+++ b/c/include/dynamixel_sdk/GroupSyncRead.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* GroupSyncRead.h
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_C_H_
diff --git a/c/include/dynamixel_sdk/GroupSyncWrite.h b/c/include/dynamixel_sdk/GroupSyncWrite.h
index 5844563e92b0bca9f744ac21946efc49070631db..380c7046c9698b15c814ac36765a75a7b1f2000f 100644
--- a/c/include/dynamixel_sdk/GroupSyncWrite.h
+++ b/c/include/dynamixel_sdk/GroupSyncWrite.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* GroupSyncWrite.h
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCWRITE_C_H_
diff --git a/c/include/dynamixel_sdk/PacketHandler.h b/c/include/dynamixel_sdk/PacketHandler.h
index 61a418de556f940654ed586d25d0a4796fa7fb26..8c981eb0a335201f6018830a70ea1f9f4cc59b6b 100644
--- a/c/include/dynamixel_sdk/PacketHandler.h
+++ b/c/include/dynamixel_sdk/PacketHandler.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* PacketHandler.h
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_C_H_
diff --git a/c/include/dynamixel_sdk/PortHandler.h b/c/include/dynamixel_sdk/PortHandler.h
index 8012e4710828cb6828f88c026493ae764a0b0785..09f8d6a435ff521058a47ae3e135afe35a20aabd 100644
--- a/c/include/dynamixel_sdk/PortHandler.h
+++ b/c/include/dynamixel_sdk/PortHandler.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* PortHandler.h
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_C_H_
diff --git a/c/include/dynamixel_sdk/Protocol1PacketHandler.h b/c/include/dynamixel_sdk/Protocol1PacketHandler.h
index b549d3600ef3b6323b1033e651b44cccb1b08d3c..5981b4c33886aaac80896e670d2dffd729d0aaa5 100644
--- a/c/include/dynamixel_sdk/Protocol1PacketHandler.h
+++ b/c/include/dynamixel_sdk/Protocol1PacketHandler.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* Protocol1PacketHandler.h
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_C_H_
diff --git a/c/include/dynamixel_sdk/Protocol2PacketHandler.h b/c/include/dynamixel_sdk/Protocol2PacketHandler.h
index 34851f3bda48950c514c586a70484d4d37cdf5af..1359de380b5e4fd61d4a9ce379d980604b5c8209 100644
--- a/c/include/dynamixel_sdk/Protocol2PacketHandler.h
+++ b/c/include/dynamixel_sdk/Protocol2PacketHandler.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* Protocol2PacketHandler.h
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_C_H_
diff --git a/c/include/dynamixel_sdk/RobotisDef.h b/c/include/dynamixel_sdk/RobotisDef.h
index 21d11a42c8d6de0e12f61aafa93a25b05508b9b3..8fd8977426b652d5f4a384150b1a71caeb700a83 100644
--- a/c/include/dynamixel_sdk/RobotisDef.h
+++ b/c/include/dynamixel_sdk/RobotisDef.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* RobotisDef.h
*
* Created on: 2016. 5. 4.
- * Author: leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_ROBOTISDEF_C_H_
diff --git a/c/include/dynamixel_sdk_linux/PortHandlerLinux.h b/c/include/dynamixel_sdk_linux/PortHandlerLinux.h
index 04f0ed36b35759eef19c42a0aa0fc4dd3af3f41e..55214f189fe7eb64196453d8c9679c5044b86e50 100644
--- a/c/include/dynamixel_sdk_linux/PortHandlerLinux.h
+++ b/c/include/dynamixel_sdk_linux/PortHandlerLinux.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* PortHandlerLinux.h
*
* Created on: 2016. 5. 17.
-* Author: leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_C_H_
diff --git a/c/include/dynamixel_sdk_windows/PortHandlerWindows.h b/c/include/dynamixel_sdk_windows/PortHandlerWindows.h
index 2029a0df4a17a0847de09f76b17a16a9f5b19f21..89a88ca07848d90680b3989d443e6f84d5401078 100644
--- a/c/include/dynamixel_sdk_windows/PortHandlerWindows.h
+++ b/c/include/dynamixel_sdk_windows/PortHandlerWindows.h
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* PortHandlerWindows.h
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_WINDOWS_PORTHANDLERWINDOWS_C_H_
diff --git a/c/src/dynamixel_sdk/GroupBulkRead.c b/c/src/dynamixel_sdk/GroupBulkRead.c
index 12dc8ca3a168139ca1aec85f63e2e04105be337d..0b2d382c1b27ac579a55aa15c6dd2f02797cd9bc 100644
--- a/c/src/dynamixel_sdk/GroupBulkRead.c
+++ b/c/src/dynamixel_sdk/GroupBulkRead.c
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* GroupBulkRead.c
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
@@ -202,7 +233,7 @@ void GroupBulkRead_RxPacket(int group_num)
{
int _data_num, _c;
int _port_num = groupDataBulkRead[group_num].port_num;
-
+
packetData[_port_num].communication_result_ = COMM_RX_FAIL;
groupDataBulkRead[group_num].last_result_ = false;
diff --git a/c/src/dynamixel_sdk/GroupBulkWrite.c b/c/src/dynamixel_sdk/GroupBulkWrite.c
index 4899e1534a3e4deff28fdc254ea794d2a67f52b2..b0f3e21dbbc996f9a4c7b6a163adc0ca645295a1 100644
--- a/c/src/dynamixel_sdk/GroupBulkWrite.c
+++ b/c/src/dynamixel_sdk/GroupBulkWrite.c
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* GroupBulkWrite.c
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
@@ -110,7 +141,7 @@ void GroupBulkWrite_MakeParam(int group_num)
groupDataBulkWrite[group_num].param_length_ += 1 + 2 + 2 + groupDataBulkWrite[group_num].data_list_[_data_num].data_length_;
- packetData[_port_num].data_write_ = (UINT8_T*)realloc(packetData[_port_num].data_write_, groupDataBulkWrite[group_num].param_length_ * sizeof(UINT8_T));
+ packetData[_port_num].data_write_ = (UINT8_T*)realloc(packetData[_port_num].data_write_, groupDataBulkWrite[group_num].param_length_ * sizeof(UINT8_T));
packetData[_port_num].data_write_[_idx++] = groupDataBulkWrite[group_num].data_list_[_data_num].id_;
packetData[_port_num].data_write_[_idx++] = DXL_LOBYTE(groupDataBulkWrite[group_num].data_list_[_data_num].start_address_);
diff --git a/c/src/dynamixel_sdk/GroupSyncRead.c b/c/src/dynamixel_sdk/GroupSyncRead.c
index 0b500e5551e0808b9c450798b809073c5cfccfd8..974280a431a547ca2d930472dfb541b249ae3652 100644
--- a/c/src/dynamixel_sdk/GroupSyncRead.c
+++ b/c/src/dynamixel_sdk/GroupSyncRead.c
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* GroupSyncRead.c
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
@@ -134,7 +165,7 @@ bool GroupSyncRead_AddParam(int group_num, UINT8_T id)
groupDataSyncRead[group_num].data_list_[_data_num].id_ = id;
groupDataSyncRead[group_num].data_list_[_data_num].data_ = (UINT8_T *)calloc(groupDataSyncRead[group_num].data_length_, sizeof(UINT8_T));
}
-
+
groupDataSyncRead[group_num].is_param_changed_ = true;
return true;
}
@@ -209,7 +240,7 @@ void GroupSyncRead_RxPacket(int group_num)
packetData[_port_num].communication_result_ = COMM_NOT_AVAILABLE;
return;
}
-
+
packetData[groupDataSyncRead[group_num].port_num].communication_result_ = COMM_RX_FAIL;
if (GroupSyncRead_Size(group_num) == 0)
diff --git a/c/src/dynamixel_sdk/GroupSyncWrite.c b/c/src/dynamixel_sdk/GroupSyncWrite.c
index 9f295df1d45d5921a11c767ae4ba038e6791d74e..c1aa5b175ef5d4dfbd5163f1b1ff0bfebed68323 100644
--- a/c/src/dynamixel_sdk/GroupSyncWrite.c
+++ b/c/src/dynamixel_sdk/GroupSyncWrite.c
@@ -1,8 +1,38 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
/*
* GroupSyncWrite.c
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
@@ -24,7 +54,7 @@ typedef struct
{
int port_num;
int protocol_version;
-
+
int data_list_length_;
bool is_param_changed_;
@@ -172,7 +202,7 @@ void GroupSyncWrite_RemoveParam(int group_num, UINT8_T id)
return;
groupDataSyncWrite[group_num].data_list_[_data_num].data_end_ = 0;
-
+
groupDataSyncWrite[group_num].data_list_[_data_num].data_ = 0;
groupDataSyncWrite[group_num].data_list_[_data_num].id_ = NOT_USED_ID;
diff --git a/c/src/dynamixel_sdk/PacketHandler.c b/c/src/dynamixel_sdk/PacketHandler.c
index 2a6864781902ec2fef969ca2f2206ab43a07862b..c3869cfb2b58fde1eb72b86bb2ee4dce78f27db6 100644
--- a/c/src/dynamixel_sdk/PacketHandler.c
+++ b/c/src/dynamixel_sdk/PacketHandler.c
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* PacketHandler.c
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
@@ -56,7 +87,7 @@ int GetLastTxRxResult(int port_num, int protocol_version)
else
return GetLastTxRxResult2(port_num);
}
-UINT8_T GetLastRxPacketError(int port_num, int protocol_version)
+UINT8_T GetLastRxPacketError(int port_num, int protocol_version)
{
if (protocol_version == 1)
return GetLastRxPacketError1(port_num);
diff --git a/c/src/dynamixel_sdk/PortHandler.c b/c/src/dynamixel_sdk/PortHandler.c
index b1583d979ea6a8b5134d013490ead8017414e83d..bd3d9b2bcf527f42fbe846fbac8e64416674c9fc 100644
--- a/c/src/dynamixel_sdk/PortHandler.c
+++ b/c/src/dynamixel_sdk/PortHandler.c
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* PortHandler.c
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#if defined(_WIN32) || defined(_WIN64)
diff --git a/c/src/dynamixel_sdk/Protocol1PacketHandler.c b/c/src/dynamixel_sdk/Protocol1PacketHandler.c
index 3627a5f119792f065d1f125dafafa5143767560c..5233d6a4b4b4dcc9d54c1f6d0d320be55387693d 100644
--- a/c/src/dynamixel_sdk/Protocol1PacketHandler.c
+++ b/c/src/dynamixel_sdk/Protocol1PacketHandler.c
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* Protocol1PacketHandler.c
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
@@ -403,7 +434,7 @@ void ReadTx1(int port_num, UINT8_T id, UINT16_T address, UINT16_T length)
packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, 8);
- if (id >= BROADCAST_ID)
+ if (id >= BROADCAST_ID)
{
packetData[port_num].communication_result_ = COMM_NOT_AVAILABLE;
return;
@@ -665,7 +696,7 @@ void SyncWriteTxOnly1(int port_num, UINT16_T start_address, UINT16_T data_length
UINT8_T _s;
packetData[port_num].communication_result_ = COMM_TX_FAIL;
-
+
packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, param_length + 8); // 8: HEADER0 HEADER1 ID LEN INST START_ADDR DATA_LEN ... CHKSUM
packetData[port_num].txpacket_[PKT_ID] = BROADCAST_ID;
@@ -686,7 +717,7 @@ void BulkReadTx1(int port_num, UINT16_T param_length)
int _i;
packetData[port_num].communication_result_ = COMM_TX_FAIL;
-
+
packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, param_length + 7); // 7: HEADER0 HEADER1 ID LEN INST 0x00 ... CHKSUM
packetData[port_num].txpacket_[PKT_ID] = BROADCAST_ID;
diff --git a/c/src/dynamixel_sdk/Protocol2PacketHandler.c b/c/src/dynamixel_sdk/Protocol2PacketHandler.c
index a8b06681ea12d28f02616dbeea84a0c899013d65..1d32f7200cc309c82ececc1a62e5dd9bc05ce6c4 100644
--- a/c/src/dynamixel_sdk/Protocol2PacketHandler.c
+++ b/c/src/dynamixel_sdk/Protocol2PacketHandler.c
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* Protocol2PacketHandler.c
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#if defined(_WIN32) || defined(_WIN64)
diff --git a/c/src/dynamixel_sdk_linux/PortHandlerLinux.c b/c/src/dynamixel_sdk_linux/PortHandlerLinux.c
index f7d39aef15ba685b0cf6f97f5d502ad8b6b354ec..a8db500157b4b4ad0e0ec4b80a2b5ad9eb610a5c 100644
--- a/c/src/dynamixel_sdk_linux/PortHandlerLinux.c
+++ b/c/src/dynamixel_sdk_linux/PortHandlerLinux.c
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* PortHandlerLinux.c
*
* Created on: 2016. 5. 17.
-* Author: leon
*/
#include <stdio.h>
diff --git a/c/src/dynamixel_sdk_windows/PortHandlerWindows.c b/c/src/dynamixel_sdk_windows/PortHandlerWindows.c
index 407c3bfb9fc87628ae7d5c721756c2acce5c23e5..45ffb81fbd4568556d2de413cd5dc41c3309d922 100644
--- a/c/src/dynamixel_sdk_windows/PortHandlerWindows.c
+++ b/c/src/dynamixel_sdk_windows/PortHandlerWindows.c
@@ -1,8 +1,39 @@
+/*******************************************************************************
+* 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: Leon Ryu Woon Jung */
+
/*
* PortHandlerWindows.c
*
* Created on: 2016. 5. 4.
-* Author: leon
*/
#if defined(_WIN32) || defined(_WIN64)
@@ -14,7 +45,7 @@
#include <time.h>
#include "dynamixel_sdk_windows/PortHandlerWindows.h"
-#define LATENCY_TIMER 16 // msec (USB latency timer)
+#define LATENCY_TIMER 16 // msec (USB latency timer)
typedef struct
{
@@ -188,20 +219,20 @@ bool SetupPortWindows(int port_num, const int baudrate)
DCB dcb;
COMMTIMEOUTS timeouts;
DWORD dwError;
-
+
ClosePortWindows(port_num);
-
+
portDataWindows[port_num].serial_handle_ = CreateFileA(portDataWindows[port_num].port_name_, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);
if (portDataWindows[port_num].serial_handle_ == INVALID_HANDLE_VALUE)
{
printf("[PortHandlerWindows::SetupPort] Error opening serial port!\n");
return false;
}
-
+
dcb.DCBlength = sizeof(DCB);
if (GetCommState(portDataWindows[port_num].serial_handle_, &dcb) == FALSE)
goto DXL_HAL_OPEN_ERROR;
-
+
// Set baudrate
dcb.BaudRate = (DWORD)baudrate;
dcb.ByteSize = 8; // Data bit = 8bit
@@ -221,10 +252,10 @@ bool SetupPortWindows(int port_num, const int baudrate)
dcb.fDsrSensitivity = 0;
dcb.fOutxDsrFlow = 0;
dcb.fOutxCtsFlow = 0;
-
+
if (SetCommState(portDataWindows[port_num].serial_handle_, &dcb) == FALSE)
goto DXL_HAL_OPEN_ERROR;
-
+
if (SetCommMask(portDataWindows[port_num].serial_handle_, 0) == FALSE) // Not using Comm event
goto DXL_HAL_OPEN_ERROR;
if (SetupComm(portDataWindows[port_num].serial_handle_, 4096, 4096) == FALSE) // Buffer size (Rx,Tx)
@@ -233,7 +264,7 @@ bool SetupPortWindows(int port_num, const int baudrate)
goto DXL_HAL_OPEN_ERROR;
if (ClearCommError(portDataWindows[port_num].serial_handle_, &dwError, NULL) == FALSE)
goto DXL_HAL_OPEN_ERROR;
-
+
if (GetCommTimeouts(portDataWindows[port_num].serial_handle_, &timeouts) == FALSE)
goto DXL_HAL_OPEN_ERROR;
// Timeout (Not using timeout)
@@ -245,10 +276,10 @@ bool SetupPortWindows(int port_num, const int baudrate)
timeouts.WriteTotalTimeoutConstant = 0;
if (SetCommTimeouts(portDataWindows[port_num].serial_handle_, &timeouts) == FALSE)
goto DXL_HAL_OPEN_ERROR;
-
+
portDataWindows[port_num].tx_time_per_byte_ = (1000.0 / (double)portDataWindows[port_num].baudrate_) * 10.0;
return true;
-
+
DXL_HAL_OPEN_ERROR:
ClosePortWindows(port_num);