/*******************************************************************************
* 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"
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*******************************************************************************/

/* Author: Leon Ryu Woon Jung */

/*
* GroupSyncRead.h
*
*  Created on: 2016. 5. 4.
*/

#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_C_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_C_H_

#include "RobotisDef.h"
#include "PortHandler.h"
#include "PacketHandler.h"

WINDECLSPEC int         GroupSyncRead               (int port_num, int protocol_version, UINT16_T start_address, UINT16_T data_length);

WINDECLSPEC void        GroupSyncRead_MakeParam     (int group_num);
WINDECLSPEC bool        GroupSyncRead_AddParam      (int group_num, UINT8_T id);
WINDECLSPEC void        GroupSyncRead_RemoveParam   (int group_num, UINT8_T id);
WINDECLSPEC void        GroupSyncRead_ClearParam    (int group_num);

WINDECLSPEC void        GroupSyncRead_TxPacket      (int group_num);
WINDECLSPEC void        GroupSyncRead_RxPacket      (int group_num);
WINDECLSPEC void        GroupSyncRead_TxRxPacket    (int group_num);

WINDECLSPEC bool        GroupSyncRead_IsAvailable   (int group_num, UINT8_T id, UINT16_T address, UINT16_T data_length);
WINDECLSPEC UINT32_T    GroupSyncRead_GetData       (int group_num, UINT8_T id, UINT16_T address, UINT16_T data_length);


#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_C_H_ */