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

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This commit is contained in:
ROBOTIS 2016-03-11 14:42:13 +09:00
parent 1648993922
commit c14f0b2c34
4 changed files with 25 additions and 9 deletions
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8
dynamixel_sdk/include/dynamixel_sdk/GroupBulkRead.h
View File

@ -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();

2
dynamixel_sdk/include/dynamixel_sdk/GroupSyncRead.h
View File

@ -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_;

12
dynamixel_sdk/src/dynamixel_sdk/GroupBulkRead.cpp
View File

@ -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];

12
dynamixel_sdk/src/dynamixel_sdk/GroupSyncRead.cpp
View File

@ -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())