make it able to run with Jetson nano

include/dynamixel_sdk/dynamixel_sdk.h

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+/*******************************************************************************
+* Copyright 2017 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+* http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+////////////////////////////////////////////////////////////////////////////////
+/// @file The file that includes whole Dynamixel SDK libraries
+/// @author Zerom, Leon (RyuWoon Jung)
+////////////////////////////////////////////////////////////////////////////////
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_
+
+
+#include "group_bulk_read.h"
+#include "group_bulk_write.h"
+#include "group_sync_read.h"
+#include "group_sync_write.h"
+#include "packet_handler.h"
+#include "port_handler.h"
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_ */

include/dynamixel_sdk/group_bulk_read.h

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+/*******************************************************************************
+* Copyright 2017 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+* http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+////////////////////////////////////////////////////////////////////////////////
+/// @file The file for Dynamixel Bulk Read
+/// @author Zerom, Leon (RyuWoon Jung)
+////////////////////////////////////////////////////////////////////////////////
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_
+
+
+#include <map>
+#include <vector>
+#include "port_handler.h"
+#include "packet_handler.h"
+
+namespace dynamixel
+{
+
+////////////////////////////////////////////////////////////////////////////////
+/// @brief The class for reading multiple Dynamixel data from different addresses with different lengths at once
+////////////////////////////////////////////////////////////////////////////////
+class WINDECLSPEC GroupBulkRead
+{
+ private:
+ 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>
+ std::map<uint8_t, uint8_t *> error_list_; // <id, error>
+
+ bool last_result_;
+ bool is_param_changed_;
+
+ uint8_t *param_;
+
+ void makeParam();
+
+ public:
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that Initializes instance for Bulk Read
+ /// @param port PortHandler instance
+ /// @param ph PacketHandler instance
+ ////////////////////////////////////////////////////////////////////////////////
+ GroupBulkRead(PortHandler *port, PacketHandler *ph);
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that calls clearParam function to clear the parameter list for Bulk Read
+ ////////////////////////////////////////////////////////////////////////////////
+ ~GroupBulkRead() { clearParam(); }
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that returns PortHandler instance
+ /// @return PortHandler instance
+ ////////////////////////////////////////////////////////////////////////////////
+ PortHandler *getPortHandler() { return port_; }
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that returns PacketHandler instance
+ /// @return PacketHandler instance
+ ////////////////////////////////////////////////////////////////////////////////
+ PacketHandler *getPacketHandler() { return ph_; }
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that adds id, start_address, data_length to the Bulk Read list
+ /// @param id Dynamixel ID
+ /// @param start_address Address of the data for read
+ /// @data_length Length of the data for read
+ /// @return false
+ /// @return when the ID exists already in the list
+ /// @return or true
+ ////////////////////////////////////////////////////////////////////////////////
+ bool addParam (uint8_t id, uint16_t start_address, uint16_t data_length);
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that removes id from the Bulk Read list
+ /// @param id Dynamixel ID
+ ////////////////////////////////////////////////////////////////////////////////
+ void removeParam (uint8_t id);
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that clears the Bulk Read list
+ ////////////////////////////////////////////////////////////////////////////////
+ void clearParam ();
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that transmits the Bulk Read instruction packet which might be constructed by GroupBulkRead::addParam function
+ /// @return COMM_NOT_AVAILABLE
+ /// @return when the list for Bulk Read is empty
+ /// @return or the other communication results which come from PacketHandler::bulkReadTx
+ ////////////////////////////////////////////////////////////////////////////////
+ int txPacket();
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that receives the packet which might be come from the Dynamixel
+ /// @return COMM_NOT_AVAILABLE
+ /// @return when the list for Bulk Read is empty
+ /// @return COMM_RX_FAIL
+ /// @return when there is no packet recieved
+ /// @return COMM_SUCCESS
+ /// @return when there is packet recieved
+ /// @return or the other communication results
+ ////////////////////////////////////////////////////////////////////////////////
+ int rxPacket();
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that transmits and receives the packet which might be come from the Dynamixel
+ /// @return COMM_RX_FAIL
+ /// @return when there is no packet recieved
+ /// @return COMM_SUCCESS
+ /// @return when there is packet recieved
+ /// @return or the other communication results which come from GroupBulkRead::txPacket or GroupBulkRead::rxPacket
+ ////////////////////////////////////////////////////////////////////////////////
+ int txRxPacket();
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that checks whether there are available data which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket
+ /// @param id Dynamixel ID
+ /// @param address Address of the data for read
+ /// @param data_length Length of the data for read
+ /// @return false
+ /// @return when there are no data available
+ /// @return or true
+ ////////////////////////////////////////////////////////////////////////////////
+ bool isAvailable (uint8_t id, uint16_t address, uint16_t data_length);
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that gets the data which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket
+ /// @param id Dynamixel ID
+ /// @param address Address of the data for read
+ /// @data_length Length of the data for read
+ /// @return data value
+ ////////////////////////////////////////////////////////////////////////////////
+ uint32_t getData (uint8_t id, uint16_t address, uint16_t data_length);
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that gets the error which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket
+ /// @param id Dynamixel ID
+ /// @error error of Dynamixel
+ /// @return true
+ /// @return when Dynamixel returned specific error byte
+ /// @return or false 
+ ////////////////////////////////////////////////////////////////////////////////
+ bool getError (uint8_t id, uint8_t* error);
+};
+
+}
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_ */

include/dynamixel_sdk/group_bulk_write.h

@@ -0,0 +1,127 @@
+/*******************************************************************************
+* Copyright 2017 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+* http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+////////////////////////////////////////////////////////////////////////////////
+/// @file The file for Dynamixel Bulk Write
+/// @author Zerom, Leon (RyuWoon Jung)
+////////////////////////////////////////////////////////////////////////////////
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_
+
+
+#include <map>
+#include <vector>
+#include "port_handler.h"
+#include "packet_handler.h"
+
+namespace dynamixel
+{
+
+////////////////////////////////////////////////////////////////////////////////
+/// @brief The class for writing multiple Dynamixel data from different addresses with different lengths at once
+////////////////////////////////////////////////////////////////////////////////
+class WINDECLSPEC GroupBulkWrite
+{
+ private:
+ 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>
+
+ bool is_param_changed_;
+
+ uint8_t *param_;
+ uint16_t param_length_;
+
+ void makeParam();
+
+ public:
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that Initializes instance for Bulk Write
+ /// @param port PortHandler instance
+ /// @param ph PacketHandler instance
+ ////////////////////////////////////////////////////////////////////////////////
+ GroupBulkWrite(PortHandler *port, PacketHandler *ph);
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that calls clearParam function to clear the parameter list for Bulk Write
+ ////////////////////////////////////////////////////////////////////////////////
+ ~GroupBulkWrite() { clearParam(); }
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that returns PortHandler instance
+ /// @return PortHandler instance
+ ////////////////////////////////////////////////////////////////////////////////
+ PortHandler *getPortHandler() { return port_; }
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that returns PacketHandler instance
+ /// @return PacketHandler instance
+ ////////////////////////////////////////////////////////////////////////////////
+ PacketHandler *getPacketHandler() { return ph_; }
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that adds id, start_address, data_length to the Bulk Write list
+ /// @param id Dynamixel ID
+ /// @param start_address Address of the data for write
+ /// @param data_length Length of the data for write
+ /// @return false
+ /// @return when the ID exists already in the list
+ /// @return or true
+ ////////////////////////////////////////////////////////////////////////////////
+ bool addParam (uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data);
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that removes id from the Bulk Write list
+ /// @param id Dynamixel ID
+ ////////////////////////////////////////////////////////////////////////////////
+ void removeParam (uint8_t id);
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that changes the data for write in id -> start_address -> data_length to the Bulk Write list
+ /// @param id Dynamixel ID
+ /// @param start_address Address of the data for write
+ /// @param data_length Length of the data for write
+ /// @param data for replacement
+ /// @return false
+ /// @return when the ID doesn't exist in the list
+ /// @return or true
+ ////////////////////////////////////////////////////////////////////////////////
+ bool changeParam (uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data);
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that clears the Bulk Write list
+ ////////////////////////////////////////////////////////////////////////////////
+ void clearParam ();
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// @brief The function that transmits the Bulk Write instruction packet which might be constructed by GroupBulkWrite::addParam function
+ /// @return COMM_NOT_AVAILABLE
+ /// @return when the list for Bulk Write is empty
+ /// @return when Protocol1.0 has been used
+ /// @return or the other communication results which come from PacketHandler::bulkWriteTxOnly
+ ////////////////////////////////////////////////////////////////////////////////
+ int txPacket();
+};
+
+}
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_ */