From d830ef1df0cffd0ec2f24d464dde0a46aa15c184 Mon Sep 17 00:00:00 2001
From: ROBOTIS <platform@robotis.com>
Date: Fri, 11 Mar 2016 15:11:10 +0900
Subject: [PATCH] - if the last bulk_read / sync_read result is failure ->
GetData return false
---
c++/include/dynamixel_sdk/GroupBulkRead.h | 8 +++++---
c++/include/dynamixel_sdk/GroupSyncRead.h | 2 ++
c++/src/dynamixel_sdk/GroupBulkRead.cpp | 12 +++++++++---
c++/src/dynamixel_sdk/GroupSyncRead.cpp | 12 +++++++++---
4 files changed, 25 insertions(+), 9 deletions(-)
diff --git a/c++/include/dynamixel_sdk/GroupBulkRead.h b/c++/include/dynamixel_sdk/GroupBulkRead.h
index e98b19f1..45706c95 100644
--- a/c++/include/dynamixel_sdk/GroupBulkRead.h
+++ b/c++/include/dynamixel_sdk/GroupBulkRead.h
@@ -21,15 +21,17 @@ namespace ROBOTIS
class GroupBulkRead
{
private:
- PortHandler *port_;
- PacketHandler *ph_;
+ PortHandler *port_;
+ PacketHandler *ph_;
std::vector<UINT8_T> id_list_;
std::map<UINT8_T, UINT16_T> address_list_; // <id, start_address>
std::map<UINT8_T, UINT16_T> length_list_; // <id, data_length>
std::map<UINT8_T, UINT8_T *> data_list_; // <id, data>
- UINT8_T *param_;
+ bool last_result_;
+
+ UINT8_T *param_;
void MakeParam();
diff --git a/c++/include/dynamixel_sdk/GroupSyncRead.h b/c++/include/dynamixel_sdk/GroupSyncRead.h
index 5fb7b5e7..56f7cffe 100644
--- a/c++/include/dynamixel_sdk/GroupSyncRead.h
+++ b/c++/include/dynamixel_sdk/GroupSyncRead.h
@@ -27,6 +27,8 @@ private:
std::vector<UINT8_T> id_list_;
std::map<UINT8_T, UINT8_T* > data_list_; // <id, data>
+ bool last_result_;
+
UINT8_T *param_;
UINT16_T start_address_;
UINT16_T data_length_;
diff --git a/c++/src/dynamixel_sdk/GroupBulkRead.cpp b/c++/src/dynamixel_sdk/GroupBulkRead.cpp
index d779039a..aa085870 100644
--- a/c++/src/dynamixel_sdk/GroupBulkRead.cpp
+++ b/c++/src/dynamixel_sdk/GroupBulkRead.cpp
@@ -14,6 +14,7 @@ using namespace ROBOTIS;
GroupBulkRead::GroupBulkRead(PortHandler *port, PacketHandler *ph)
: port_(port),
ph_(ph),
+ last_result_(false),
param_(0)
{
ClearParam();
@@ -116,6 +117,8 @@ int GroupBulkRead::RxPacket()
int _cnt = id_list_.size();
int _result = COMM_RX_FAIL;
+ last_result_ = false;
+
if(_cnt == 0)
return COMM_NOT_AVAILABLE;
@@ -131,6 +134,9 @@ int GroupBulkRead::RxPacket()
}
}
+ if(_result == COMM_SUCCESS)
+ last_result_ = true;
+
return _result;
}
@@ -149,7 +155,7 @@ bool GroupBulkRead::GetData(UINT8_T id, UINT16_T address, UINT8_T *data)
{
UINT16_T _start_addr, _data_length;
- if(data_list_.find(id) == data_list_.end())
+ if(last_result_ == false || data_list_.find(id) == data_list_.end())
return false;
_start_addr = address_list_[id];
@@ -167,7 +173,7 @@ bool GroupBulkRead::GetData(UINT8_T id, UINT16_T address, UINT16_T *data)
{
UINT16_T _start_addr, _data_length;
- if(data_list_.find(id) == data_list_.end())
+ if(last_result_ == false || data_list_.find(id) == data_list_.end())
return false;
_start_addr = address_list_[id];
@@ -185,7 +191,7 @@ bool GroupBulkRead::GetData(UINT8_T id, UINT16_T address, UINT32_T *data)
{
UINT16_T _start_addr, _data_length;
- if(data_list_.find(id) == data_list_.end())
+ if(last_result_ == false || data_list_.find(id) == data_list_.end())
return false;
_start_addr = address_list_[id];
diff --git a/c++/src/dynamixel_sdk/GroupSyncRead.cpp b/c++/src/dynamixel_sdk/GroupSyncRead.cpp
index 7f123934..cf399e08 100644
--- a/c++/src/dynamixel_sdk/GroupSyncRead.cpp
+++ b/c++/src/dynamixel_sdk/GroupSyncRead.cpp
@@ -13,6 +13,7 @@ using namespace ROBOTIS;
GroupSyncRead::GroupSyncRead(PortHandler *port, PacketHandler *ph, UINT16_T start_address, UINT16_T data_length)
: port_(port),
ph_(ph),
+ last_result_(false),
param_(0),
start_address_(start_address),
data_length_(data_length)
@@ -93,6 +94,8 @@ int GroupSyncRead::TxPacket()
int GroupSyncRead::RxPacket()
{
+ last_result_ = false;
+
if(ph_->GetProtocolVersion() == 1.0)
return COMM_NOT_AVAILABLE;
@@ -111,6 +114,9 @@ int GroupSyncRead::RxPacket()
return _result;
}
+ if(_result == COMM_SUCCESS)
+ last_result_ = true;
+
return _result;
}
@@ -130,7 +136,7 @@ int GroupSyncRead::TxRxPacket()
bool GroupSyncRead::GetData(UINT8_T id, UINT16_T address, UINT8_T *data)
{
- if(ph_->GetProtocolVersion() == 1.0)
+ if(last_result_ == false || ph_->GetProtocolVersion() == 1.0)
return false;
if(data_list_.find(id) == data_list_.end())
@@ -145,7 +151,7 @@ bool GroupSyncRead::GetData(UINT8_T id, UINT16_T address, UINT8_T *data)
}
bool GroupSyncRead::GetData(UINT8_T id, UINT16_T address, UINT16_T *data)
{
- if(ph_->GetProtocolVersion() == 1.0)
+ if(last_result_ == false || ph_->GetProtocolVersion() == 1.0)
return false;
if(data_list_.find(id) == data_list_.end())
@@ -160,7 +166,7 @@ bool GroupSyncRead::GetData(UINT8_T id, UINT16_T address, UINT16_T *data)
}
bool GroupSyncRead::GetData(UINT8_T id, UINT16_T address, UINT32_T *data)
{
- if(ph_->GetProtocolVersion() == 1.0)
+ if(last_result_ == false || ph_->GetProtocolVersion() == 1.0)
return false;
if(data_list_.find(id) == data_list_.end())
--
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