- if the last bulk_read / sync_read result is failure -> GetData return false

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();
 

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_;

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];

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())