BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- remove unnecessary code

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- change the code for multi-platform
This commit is contained in:
ROBOTIS 2016-03-07 20:26:04 +09:00
parent fe533d50db
commit 825616ad5d
3 changed files with 6 additions and 56 deletions
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4
dynamixel_sdk/src/dynamixel_sdk/PortHandler.cpp
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@ -11,7 +11,7 @@
#include "dynamixel_sdk_linux/PortHandlerLinux.h"
#endif
#ifdef _WIN32 || _WIN64
#if defined(_WIN32) || defined(_WIN64)
#include "dynamixel_sdk_windows/PortHandlerWindows.h"
#endif
@ -23,7 +23,7 @@ PortHandler *PortHandler::GetPortHandler(const char *port_name)
return (PortHandler *)(new PortHandlerLinux(port_name));
#endif
#ifdef _WIN32 || _WIN64
#if defined(_WIN32) || defined(_WIN64)
return (PortHandler *)(new PortHandlerWindows(port_name));
#endif
}

50
dynamixel_sdk/src/dynamixel_sdk/Protocol2PacketHandler.cpp
View File

@ -213,11 +213,6 @@ int Protocol2PacketHandler::RxPacket(PortHandler *port, UINT8_T *rxpacket)
UINT16_T _idx = 0;
// find packet header
// for(_idx = 0; _idx < (_rx_length - 2); _idx++)
// {
// if(rxpacket[_idx] == 0xFF && rxpacket[_idx+1] == 0xFF && rxpacket[_idx+2] == 0xFD)
// break;
// }
for(_idx = 0; _idx < (_rx_length - 3); _idx++)
{
if((rxpacket[_idx] == 0xFF) && (rxpacket[_idx+1] == 0xFF) && (rxpacket[_idx+2] == 0xFD) && (rxpacket[_idx+3] != 0xFD))
@ -228,9 +223,6 @@ int Protocol2PacketHandler::RxPacket(PortHandler *port, UINT8_T *rxpacket)
{
// re-calculate the exact length of the rx packet
_wait_length = DXL_MAKEWORD(rxpacket[PKT_LENGTH_L], rxpacket[PKT_LENGTH_H]) + PKT_LENGTH_H + 1;
if(_wait_length > 100)
fprintf(stderr, "id : %d , _wait_length : %d \n", rxpacket[PKT_ID], _wait_length);
if(_wait_length > RXPACKET_MAX_LEN - 10)
{
_result = COMM_RX_CORRUPT;
@ -244,18 +236,10 @@ int Protocol2PacketHandler::RxPacket(PortHandler *port, UINT8_T *rxpacket)
{
if(_rx_length == 0)
_result = COMM_RX_TIMEOUT;
else {
else
_result = COMM_RX_CORRUPT;
// fprintf(stderr, "Fail Rx Packet(short_length1) : ");
// for(int _i = 0; _i < _rx_length + 11; _i++)
// {
// fprintf(stderr, " %x", rxpacket[_i]);
// }
// fprintf(stderr, "\n");
}
break;
}
else
continue;
}
@ -264,15 +248,8 @@ int Protocol2PacketHandler::RxPacket(PortHandler *port, UINT8_T *rxpacket)
UINT16_T crc = DXL_MAKEWORD(rxpacket[_wait_length-2], rxpacket[_wait_length-1]);
if(UpdateCRC(0, rxpacket, _wait_length - 2) == crc)
_result = COMM_SUCCESS;
else {
else
_result = COMM_RX_CORRUPT;
// fprintf(stderr, "Rx Packet(crc_error) : ");
// for(int _i = 0; _i < _rx_length + 11; _i++)
// {
// fprintf(stderr, " %x", rxpacket[_i]);
// }
// fprintf(stderr, "\n");
}
break;
}
else
@ -291,15 +268,8 @@ int Protocol2PacketHandler::RxPacket(PortHandler *port, UINT8_T *rxpacket)
{
if(_rx_length == 0)
_result = COMM_RX_TIMEOUT;
else {
else
_result = COMM_RX_CORRUPT;
// fprintf(stderr, "Fail Rx Packet(short_length2): ");
// for(int _i = 0; _i < _rx_length + 11; _i++)
// {
// fprintf(stderr, " %x", rxpacket[_i]);
// }
// fprintf(stderr, "\n");
}
break;
}
}
@ -474,8 +444,6 @@ int Protocol2PacketHandler::BroadcastPing(PortHandler *port, std::vector<UINT8_T
int Protocol2PacketHandler::Action(PortHandler *port, UINT8_T id)
{
int _result = COMM_TX_FAIL;
UINT8_T txpacket[10] = {0};
txpacket[PKT_ID] = id;
@ -543,8 +511,7 @@ int Protocol2PacketHandler::ReadTx(PortHandler *port, UINT8_T id, UINT16_T addre
int Protocol2PacketHandler::ReadRx(PortHandler *port, UINT16_T length, UINT8_T *data, UINT8_T *error)
{
int _result = COMM_TX_FAIL;
//UINT8_T *rxpacket = (UINT8_T *)malloc(RXPACKET_MAX_LEN);//(length + 11 + (length/3)); // (length/3): consider stuffing
UINT8_T *rxpacket = ( UINT8_T* )calloc(RXPACKET_MAX_LEN, sizeof(UINT8_T));//(length + 11 + (length/3)); // (length/3): consider stuffing
UINT8_T *rxpacket = (UINT8_T *)malloc(RXPACKET_MAX_LEN);//(length + 11 + (length/3)); // (length/3): consider stuffing
//UINT8_T *rxpacket = new UINT8_T[length + 11 + (length/3)]; // (length/3): consider stuffing
_result = RxPacket(port, rxpacket);
@ -556,15 +523,6 @@ int Protocol2PacketHandler::ReadRx(PortHandler *port, UINT16_T length, UINT8_T *
data[_s] = rxpacket[PKT_PARAMETER0 + 1 + _s];
//memcpy(data, &rxpacket[PKT_PARAMETER0+1], length);
}
// else
// {
// fprintf(stderr, "Fail Rx Packet : ");
// for(int _i = 0; _i < length + 11; _i++)
// {
// fprintf(stderr, " %x", rxpacket[_i]);
// }
// fprintf(stderr, "\n");
// }
free(rxpacket);
//delete[] rxpacket;

8
dynamixel_sdk/src/dynamixel_sdk_linux/PortHandlerLinux.cpp
View File

@ -77,8 +77,6 @@ bool PortHandlerLinux::SetBaudRate(const int baudrate)
baudrate_ = baudrate;
return SetupPort(_baud);
}
return true;
}
int PortHandlerLinux::GetBaudRate()
@ -127,12 +125,6 @@ bool PortHandlerLinux::IsPacketTimeout()
double PortHandlerLinux::GetCurrentTime()
{
// struct timeval _tv;
//
// gettimeofday(&_tv, 0);
//
// return ((double)_tv.tv_sec * 1000.0 + (double)_tv.tv_usec / 1000.0);
struct timespec _tv;
clock_gettime( CLOCK_REALTIME, &_tv);
return ((double)_tv.tv_sec*1000.0 + (double)_tv.tv_nsec*0.001*0.001);