BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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Merge pull request #50 from ROBOTIS-GIT/develop

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Develop
This commit is contained in:
zerom
2017-08-09 14:31:45 +09:00
committed by GitHub
parent 4b0f03ee5c 05f4a5e51c
commit da6ed0eece
1 changed files with 13 additions and 12 deletions
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25
robotis_controller/src/robotis_controller/robotis_controller.cpp
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@@ -1469,9 +1469,11 @@ void RobotisController::removeSensorModule(SensorModule *module)
void RobotisController::writeControlTableCallback(const robotis_controller_msgs::WriteControlTable::ConstPtr &msg)
{
fprintf(stderr, "[WriteControlTable] led control msg received\n");
Device *device = NULL;
if (DEBUG_PRINT)
fprintf(stderr, "[WriteControlTable] led control msg received\n");
auto dev_it1 = robot_->dxls_.find(msg->joint_name);
if(dev_it1 != robot_->dxls_.end())
{
@@ -1490,7 +1492,7 @@ void RobotisController::writeControlTableCallback(const robotis_controller_msgs:
return;
}
}
fprintf(stderr, " #1 ");
ControlTableItem *item = NULL;
auto item_it = device->ctrl_table_.find(msg->start_item_name);
if(item_it != device->ctrl_table_.end())
@@ -1499,11 +1501,10 @@ void RobotisController::writeControlTableCallback(const robotis_controller_msgs:
}
else
{
ROS_WARN("WriteControlTable] Unknown item : %s", msg->start_item_name.c_str());
ROS_WARN("[WriteControlTable] Unknown item : %s", msg->start_item_name.c_str());
return;
}
fprintf(stderr, " #2 ");
dynamixel::PortHandler *port = robot_->ports_[device->port_name_];
dynamixel::PacketHandler *packet_handler = dynamixel::PacketHandler::getPacketHandler(device->protocol_version_);
@@ -1512,17 +1513,13 @@ void RobotisController::writeControlTableCallback(const robotis_controller_msgs:
queue_mutex_.lock();
direct_sync_write_.push_back(new dynamixel::GroupSyncWrite(port, packet_handler, item->address_, msg->data_length));
fprintf(stderr, " #3 \n");
direct_sync_write_[direct_sync_write_.size() - 1]->addParam(device->id_, (uint8_t *)(msg->data.data()));
fprintf(stderr, "[WriteControlTable] %s -> %s : ", msg->joint_name.c_str(), msg->start_item_name.c_str());
for (auto &dt : msg->data)
fprintf(stderr, "%02X ", dt);
fprintf(stderr, "\n");
// fprintf(stderr, "[WriteControlTable] %s -> %s : ", msg->joint_name.c_str(), msg->start_item_name.c_str());
// for (auto &dt : msg->data)
// fprintf(stderr, "%02X ", dt);
// fprintf(stderr, "\n");
queue_mutex_.unlock();
@@ -1572,6 +1569,8 @@ void RobotisController::syncWriteItemCallback(const robotis_controller_msgs::Syn
if (item->access_type_ == Read)
continue;
queue_mutex_.lock();
int idx = 0;
if (direct_sync_write_.size() == 0)
{
@@ -1607,6 +1606,8 @@ void RobotisController::syncWriteItemCallback(const robotis_controller_msgs::Syn
}
direct_sync_write_[idx]->addParam(device->id_, data);
delete[] data;
queue_mutex_.unlock();
}
}