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Merge pull request #68 from Toreno96/develop
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Resolve #67 (C++)
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@LeonJung
LeonJung authored Mar 30, 2017
2 parents 703f99c + 6d9aed2 commit 57edfe5
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Showing 5 changed files with 79 additions and 77 deletions.
2 changes: 2 additions & 0 deletions c++/include/dynamixel_sdk/packet_handler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,9 @@ class WINDECLSPEC PacketHandler

virtual float getProtocolVersion() = 0;

virtual const char *getTxRxResult(int result) = 0;
virtual void printTxRxResult(int result) = 0;
virtual const char *getRxPacketError(uint8_t error) = 0;
virtual void printRxPacketError(uint8_t error) = 0;

virtual int txPacket (PortHandler *port, uint8_t *txpacket) = 0;
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2 changes: 2 additions & 0 deletions c++/include/dynamixel_sdk/protocol1_packet_handler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,9 @@ class WINDECLSPEC Protocol1PacketHandler : public PacketHandler

float getProtocolVersion() { return 1.0; }

const char *getTxRxResult(int result);
void printTxRxResult(int result);
const char *getRxPacketError(uint8_t error);
void printRxPacketError(uint8_t error);

int txPacket (PortHandler *port, uint8_t *txpacket);
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2 changes: 2 additions & 0 deletions c++/include/dynamixel_sdk/protocol2_packet_handler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,9 @@ class WINDECLSPEC Protocol2PacketHandler : public PacketHandler

float getProtocolVersion() { return 2.0; }

const char *getTxRxResult(int result);
void printTxRxResult(int result);
const char *getRxPacketError(uint8_t error);
void printRxPacketError(uint8_t error);

int txPacket (PortHandler *port, uint8_t *txpacket);
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79 changes: 41 additions & 38 deletions c++/src/dynamixel_sdk/protocol1_packet_handler.cpp
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Expand Up @@ -65,73 +65,76 @@ Protocol1PacketHandler *Protocol1PacketHandler::unique_instance_ = new Protocol1

Protocol1PacketHandler::Protocol1PacketHandler() { }

void Protocol1PacketHandler::printTxRxResult(int result)
const char *Protocol1PacketHandler::getTxRxResult(int result)
{
switch(result)
{
case COMM_SUCCESS:
printf("[TxRxResult] Communication success.\n");
break;
case COMM_SUCCESS:
return "[TxRxResult] Communication success.";

case COMM_PORT_BUSY:
printf("[TxRxResult] Port is in use!\n");
break;
case COMM_PORT_BUSY:
return "[TxRxResult] Port is in use!";

case COMM_TX_FAIL:
printf("[TxRxResult] Failed transmit instruction packet!\n");
break;
case COMM_TX_FAIL:
return "[TxRxResult] Failed transmit instruction packet!";

case COMM_RX_FAIL:
printf("[TxRxResult] Failed get status packet from device!\n");
break;
case COMM_RX_FAIL:
return "[TxRxResult] Failed get status packet from device!";

case COMM_TX_ERROR:
printf("[TxRxResult] Incorrect instruction packet!\n");
break;
case COMM_TX_ERROR:
return "[TxRxResult] Incorrect instruction packet!";

case COMM_RX_WAITING:
printf("[TxRxResult] Now recieving status packet!\n");
break;
case COMM_RX_WAITING:
return "[TxRxResult] Now recieving status packet!";

case COMM_RX_TIMEOUT:
printf("[TxRxResult] There is no status packet!\n");
break;
case COMM_RX_TIMEOUT:
return "[TxRxResult] There is no status packet!";

case COMM_RX_CORRUPT:
printf("[TxRxResult] Incorrect status packet!\n");
break;
case COMM_RX_CORRUPT:
return "[TxRxResult] Incorrect status packet!";

case COMM_NOT_AVAILABLE:
printf("[TxRxResult] Protocol does not support This function!\n");
break;
case COMM_NOT_AVAILABLE:
return "[TxRxResult] Protocol does not support This function!";

default:
break;
default:
return "";
}
}

void Protocol1PacketHandler::printRxPacketError(uint8_t error)
void Protocol1PacketHandler::printTxRxResult(int result)
{
printf("%s\n", getTxRxResult(result));
}

const char *Protocol1PacketHandler::getRxPacketError(uint8_t error)
{
if (error & ERRBIT_VOLTAGE)
printf("[RxPacketError] Input voltage error!\n");
return "[RxPacketError] Input voltage error!";

if (error & ERRBIT_ANGLE)
printf("[RxPacketError] Angle limit error!\n");
return "[RxPacketError] Angle limit error!";

if (error & ERRBIT_OVERHEAT)
printf("[RxPacketError] Overheat error!\n");
return "[RxPacketError] Overheat error!";

if (error & ERRBIT_RANGE)
printf("[RxPacketError] Out of range error!\n");
return "[RxPacketError] Out of range error!";

if (error & ERRBIT_CHECKSUM)
printf("[RxPacketError] Checksum error!\n");
return "[RxPacketError] Checksum error!";

if (error & ERRBIT_OVERLOAD)
printf("[RxPacketError] Overload error!\n");
return "[RxPacketError] Overload error!";

if (error & ERRBIT_INSTRUCTION)
printf("[RxPacketError] Instruction code error!\n");
return "[RxPacketError] Instruction code error!";

return "";
}

void Protocol1PacketHandler::printRxPacketError(uint8_t error)
{
printf("%s\n", getRxPacketError(error));
}

int Protocol1PacketHandler::txPacket(PortHandler *port, uint8_t *txpacket)
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71 changes: 32 additions & 39 deletions c++/src/dynamixel_sdk/protocol2_packet_handler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,97 +71,90 @@ Protocol2PacketHandler *Protocol2PacketHandler::unique_instance_ = new Protocol2

Protocol2PacketHandler::Protocol2PacketHandler() { }

void Protocol2PacketHandler::printTxRxResult(int result)
const char *Protocol2PacketHandler::getTxRxResult(int result)
{
switch(result)
{
case COMM_SUCCESS:
printf("[TxRxResult] Communication success.\n");
break;
return "[TxRxResult] Communication success.";

case COMM_PORT_BUSY:
printf("[TxRxResult] Port is in use!\n");
break;
return "[TxRxResult] Port is in use!";

case COMM_TX_FAIL:
printf("[TxRxResult] Failed transmit instruction packet!\n");
break;
return "[TxRxResult] Failed transmit instruction packet!";

case COMM_RX_FAIL:
printf("[TxRxResult] Failed get status packet from device!\n");
break;
return "[TxRxResult] Failed get status packet from device!";

case COMM_TX_ERROR:
printf("[TxRxResult] Incorrect instruction packet!\n");
break;
return "[TxRxResult] Incorrect instruction packet!";

case COMM_RX_WAITING:
printf("[TxRxResult] Now recieving status packet!\n");
break;
return "[TxRxResult] Now recieving status packet!";

case COMM_RX_TIMEOUT:
printf("[TxRxResult] There is no status packet!\n");
break;
return "[TxRxResult] There is no status packet!";

case COMM_RX_CORRUPT:
printf("[TxRxResult] Incorrect status packet!\n");
break;
return "[TxRxResult] Incorrect status packet!";

case COMM_NOT_AVAILABLE:
printf("[TxRxResult] Protocol does not support This function!\n");
break;
return "[TxRxResult] Protocol does not support This function!";

default:
break;
return "";
}
}

void Protocol2PacketHandler::printRxPacketError(uint8_t error)
void Protocol2PacketHandler::printTxRxResult(int result)
{
printf("%s\n", getTxRxResult(result));
}

const char *Protocol2PacketHandler::getRxPacketError(uint8_t error)
{
if (error & ERRBIT_ALERT)
printf("[RxPacketError] Hardware error occurred. Check the error at Control Table (Hardware Error Status)!\n");
return "[RxPacketError] Hardware error occurred. Check the error at Control Table (Hardware Error Status)!";

int not_alert_error = error & ~ERRBIT_ALERT;

switch(not_alert_error)
{
case 0:
break;
return "";

case ERRNUM_RESULT_FAIL:
printf("[RxPacketError] Failed to process the instruction packet!\n");
break;
return "[RxPacketError] Failed to process the instruction packet!";

case ERRNUM_INSTRUCTION:
printf("[RxPacketError] Undefined instruction or incorrect instruction!\n");
break;
return "[RxPacketError] Undefined instruction or incorrect instruction!";

case ERRNUM_CRC:
printf("[RxPacketError] CRC doesn't match!\n");
break;
return "[RxPacketError] CRC doesn't match!";

case ERRNUM_DATA_RANGE:
printf("[RxPacketError] The data value is out of range!\n");
break;
return "[RxPacketError] The data value is out of range!";

case ERRNUM_DATA_LENGTH:
printf("[RxPacketError] The data length does not match as expected!\n");
break;
return "[RxPacketError] The data length does not match as expected!";

case ERRNUM_DATA_LIMIT:
printf("[RxPacketError] The data value exceeds the limit value!\n");
break;
return "[RxPacketError] The data value exceeds the limit value!";

case ERRNUM_ACCESS:
printf("[RxPacketError] Writing or Reading is not available to target address!\n");
break;
return "[RxPacketError] Writing or Reading is not available to target address!";

default:
printf("[RxPacketError] Unknown error code!\n");
break;
return "[RxPacketError] Unknown error code!";
}
}

void Protocol2PacketHandler::printRxPacketError(uint8_t error)
{
printf("%s\n", getRxPacketError(error));
}

unsigned short Protocol2PacketHandler::updateCRC(uint16_t crc_accum, uint8_t *data_blk_ptr, uint16_t data_blk_size)
{
uint16_t i;
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