From c2ca6be4fd74acfd23d70cf1b7c68379d4d12db1 Mon Sep 17 00:00:00 2001
From: sadtale <sadtale@gmail.com>
Date: Wed, 23 Mar 2016 17:20:01 +0900
Subject: [PATCH] - ReadTxRx function modified. (to use TxRxPacket function)
---
.../dynamixel_sdk/Protocol1PacketHandler.cpp | 58 +++++++++-----
.../dynamixel_sdk/Protocol2PacketHandler.cpp | 76 ++++++++++++-------
2 files changed, 86 insertions(+), 48 deletions(-)
diff --git a/c++/src/dynamixel_sdk/Protocol1PacketHandler.cpp b/c++/src/dynamixel_sdk/Protocol1PacketHandler.cpp
index 2b5ccc48..54db2df1 100644
--- a/c++/src/dynamixel_sdk/Protocol1PacketHandler.cpp
+++ b/c++/src/dynamixel_sdk/Protocol1PacketHandler.cpp
@@ -374,11 +374,31 @@ int Protocol1PacketHandler::ReadTxRx(PortHandler *port, UINT8_T id, UINT16_T add
{
int _result = COMM_TX_FAIL;
- _result = ReadTx(port, id, address, length);
- if(_result != COMM_SUCCESS)
- return _result;
+ UINT8_T txpacket[8] = {0};
+ UINT8_T *rxpacket = (UINT8_T *)malloc(RXPACKET_MAX_LEN);//(length+6);
+
+ if(id >= BROADCAST_ID)
+ return COMM_NOT_AVAILABLE;
+
+ txpacket[PKT_ID] = id;
+ txpacket[PKT_LENGTH] = 4;
+ txpacket[PKT_INSTRUCTION] = INST_READ;
+ txpacket[PKT_PARAMETER0+0] = (UINT8_T)address;
+ txpacket[PKT_PARAMETER0+1] = (UINT8_T)length;
+
+ _result = TxRxPacket(port, txpacket, rxpacket, error);
+ if(_result == COMM_SUCCESS)
+ {
+ if(error != 0)
+ *error = (UINT8_T)rxpacket[PKT_ERROR];
+ for(UINT8_T _s = 0; _s < length; _s++)
+ data[_s] = rxpacket[PKT_PARAMETER0 + _s];
+ //memcpy(data, &rxpacket[PKT_PARAMETER0], length);
+ }
- return ReadRx(port, length, data, error);
+ free(rxpacket);
+ //delete[] rxpacket;
+ return _result;
}
int Protocol1PacketHandler::Read1ByteTx(PortHandler *port, UINT8_T id, UINT16_T address)
@@ -389,18 +409,17 @@ int Protocol1PacketHandler::Read1ByteRx(PortHandler *port, UINT8_T *data, UINT8_
{
UINT8_T _data[1] = {0};
int _result = ReadRx(port, 1, _data, error);
- *data = _data[0];
+ if(_result == COMM_SUCCESS)
+ *data = _data[0];
return _result;
}
int Protocol1PacketHandler::Read1ByteTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT8_T *data, UINT8_T *error)
{
- int _result = COMM_TX_FAIL;
-
- _result = Read1ByteTx(port, id, address);
- if(_result != COMM_SUCCESS)
- return _result;
-
- return Read1ByteRx(port, data, error);
+ UINT8_T _data[1] = {0};
+ int _result = ReadTxRx(port, id, address, 1, _data, error);
+ if(_result == COMM_SUCCESS)
+ *data = _data[0];
+ return _result;
}
int Protocol1PacketHandler::Read2ByteTx(PortHandler *port, UINT8_T id, UINT16_T address)
@@ -411,18 +430,17 @@ int Protocol1PacketHandler::Read2ByteRx(PortHandler *port, UINT16_T *data, UINT8
{
UINT8_T _data[2] = {0};
int _result = ReadRx(port, 2, _data, error);
- *data = DXL_MAKEWORD(_data[0], _data[1]);
+ if(_result == COMM_SUCCESS)
+ *data = DXL_MAKEWORD(_data[0], _data[1]);
return _result;
}
int Protocol1PacketHandler::Read2ByteTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T *data, UINT8_T *error)
{
- int _result = COMM_TX_FAIL;
-
- _result = Read2ByteTx(port, id, address);
- if(_result != COMM_SUCCESS)
- return _result;
-
- return Read2ByteRx(port, data, error);
+ UINT8_T _data[2] = {0};
+ int _result = ReadTxRx(port, id, address, 2, _data, error);
+ if(_result == COMM_SUCCESS)
+ *data = DXL_MAKEWORD(_data[0], _data[1]);
+ return _result;
}
int Protocol1PacketHandler::Read4ByteTx(PortHandler *port, UINT8_T id, UINT16_T address)
diff --git a/c++/src/dynamixel_sdk/Protocol2PacketHandler.cpp b/c++/src/dynamixel_sdk/Protocol2PacketHandler.cpp
index c178f764..fa99fa5c 100644
--- a/c++/src/dynamixel_sdk/Protocol2PacketHandler.cpp
+++ b/c++/src/dynamixel_sdk/Protocol2PacketHandler.cpp
@@ -624,11 +624,34 @@ int Protocol2PacketHandler::ReadTxRx(PortHandler *port, UINT8_T id, UINT16_T add
{
int _result = COMM_TX_FAIL;
- _result = ReadTx(port, id, address, length);
- if(_result != COMM_SUCCESS)
- return _result;
+ UINT8_T txpacket[14] = {0};
+ UINT8_T *rxpacket = (UINT8_T *)malloc(RXPACKET_MAX_LEN);//(length + 11 + (length/3)); // (length/3): consider stuffing
+
+ if(id >= BROADCAST_ID)
+ return COMM_NOT_AVAILABLE;
+
+ txpacket[PKT_ID] = id;
+ txpacket[PKT_LENGTH_L] = 7;
+ txpacket[PKT_LENGTH_H] = 0;
+ txpacket[PKT_INSTRUCTION] = INST_READ;
+ txpacket[PKT_PARAMETER0+0] = (UINT8_T)DXL_LOBYTE(address);
+ txpacket[PKT_PARAMETER0+1] = (UINT8_T)DXL_HIBYTE(address);
+ txpacket[PKT_PARAMETER0+2] = (UINT8_T)DXL_LOBYTE(length);
+ txpacket[PKT_PARAMETER0+3] = (UINT8_T)DXL_HIBYTE(length);
+
+ _result = TxRxPacket(port, txpacket, rxpacket, error);
+ if(_result == COMM_SUCCESS)
+ {
+ if(error != 0)
+ *error = (UINT8_T)rxpacket[PKT_ERROR];
+ for(UINT8_T _s = 0; _s < length; _s++)
+ data[_s] = rxpacket[PKT_PARAMETER0 + 1 + _s];
+ //memcpy(data, &rxpacket[PKT_PARAMETER0+1], length);
+ }
- return ReadRx(port, length, data, error);
+ free(rxpacket);
+ //delete[] rxpacket;
+ return _result;
}
int Protocol2PacketHandler::Read1ByteTx(PortHandler *port, UINT8_T id, UINT16_T address)
@@ -639,18 +662,17 @@ int Protocol2PacketHandler::Read1ByteRx(PortHandler *port, UINT8_T *data, UINT8_
{
UINT8_T _data[1] = {0};
int _result = ReadRx(port, 1, _data, error);
- *data = _data[0];
+ if(_result == COMM_SUCCESS)
+ *data = _data[0];
return _result;
}
int Protocol2PacketHandler::Read1ByteTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT8_T *data, UINT8_T *error)
{
- int _result = COMM_TX_FAIL;
-
- _result = Read1ByteTx(port, id, address);
- if(_result != COMM_SUCCESS)
- return _result;
-
- return Read1ByteRx(port, data, error);
+ UINT8_T _data[1] = {0};
+ int _result = ReadTxRx(port, id, address, 1, _data, error);
+ if(_result == COMM_SUCCESS)
+ *data = _data[0];
+ return _result;
}
int Protocol2PacketHandler::Read2ByteTx(PortHandler *port, UINT8_T id, UINT16_T address)
@@ -661,18 +683,17 @@ int Protocol2PacketHandler::Read2ByteRx(PortHandler *port, UINT16_T *data, UINT8
{
UINT8_T _data[2] = {0};
int _result = ReadRx(port, 2, _data, error);
- *data = DXL_MAKEWORD(_data[0], _data[1]);
+ if(_result == COMM_SUCCESS)
+ *data = DXL_MAKEWORD(_data[0], _data[1]);
return _result;
}
int Protocol2PacketHandler::Read2ByteTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T *data, UINT8_T *error)
{
- int _result = COMM_TX_FAIL;
-
- _result = Read2ByteTx(port, id, address);
- if(_result != COMM_SUCCESS)
- return _result;
-
- return Read2ByteRx(port, data, error);
+ UINT8_T _data[2] = {0};
+ int _result = ReadTxRx(port, id, address, 2, _data, error);
+ if(_result == COMM_SUCCESS)
+ *data = DXL_MAKEWORD(_data[0], _data[1]);
+ return _result;
}
int Protocol2PacketHandler::Read4ByteTx(PortHandler *port, UINT8_T id, UINT16_T address)
@@ -683,18 +704,17 @@ int Protocol2PacketHandler::Read4ByteRx(PortHandler *port, UINT32_T *data, UINT8
{
UINT8_T _data[4] = {0};
int _result = ReadRx(port, 4, _data, error);
- *data = DXL_MAKEDWORD(DXL_MAKEWORD(_data[0], _data[1]), DXL_MAKEWORD(_data[2], _data[3]));
+ if(_result == COMM_SUCCESS)
+ *data = DXL_MAKEDWORD(DXL_MAKEWORD(_data[0], _data[1]), DXL_MAKEWORD(_data[2], _data[3]));
return _result;
}
int Protocol2PacketHandler::Read4ByteTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT32_T *data, UINT8_T *error)
{
- int _result = COMM_TX_FAIL;
-
- _result = Read4ByteTx(port, id, address);
- if(_result != COMM_SUCCESS)
- return _result;
-
- return Read4ByteRx(port, data, error);
+ UINT8_T _data[4] = {0};
+ int _result = ReadTxRx(port, id, address, 4, _data, error);
+ if(_result == COMM_SUCCESS)
+ *data = DXL_MAKEDWORD(DXL_MAKEWORD(_data[0], _data[1]), DXL_MAKEWORD(_data[2], _data[3]));
+ return _result;
}
--
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