Merge pull request #119 from ROBOTIS-GIT/develop

Develop

.gitignore

@@ -43,3 +43,6 @@
 
 # HTML
 *.html
+
+# Mac
+.DS_Store

Doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "DynamixelSDK c++"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 3.5.1
+PROJECT_NUMBER         = 3.5.2
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

README.md

@@ -6,8 +6,8 @@
 | Dynamixel SDK Version | 1.X | 2.X | 3.X ([Download](https://github.com/ROBOTIS-GIT/DynamixelSDK/releases)) |
 | ------------- | ------------- | ------------- | ------------- |
 | Release date | 2010.05.16 | 2015.02.10 | 2016.03.08 |
-| Latest version released |||3.5.1|
-| |||(2017.08.18)|
+| Latest version released |||3.5.2|
+| |||(..)|
 | OS | Linux | Windows | Linux + Windows + Mac |
 | Available Dynamixel models | All models | All models | All models |
 |||||
@@ -16,8 +16,8 @@
 | Modularized Structure | X | X | O |
 |||||
 | SDK Languages :  ||||
-| (Protocol 1.0) | C (builds .a) | C (builds .dll)| C / C++ (builds .so & .dll) |
-| (Protocol 2.0) | C++ (builds .so)| C (builds .dll)| C / C++ (builds .so & .dll) |
+| (Protocol 1.0) | C (builds .a) | C (builds .dll)| C / C++ (builds .so & .dll & .dylib) |
+| (Protocol 2.0) | C++ (builds .so)| C (builds .dll)| C / C++ (builds .so & .dll & .dylib) |
 | SDK Examples : | | | |
 | (C ver. Library binded)| C | | C|
 | | | C++| |

ReleaseNote.txt

@@ -1,3 +1,12 @@
+==============================================
+    Dynamixel SDK 3.5.2 (Protocol 1.0/2.0)
+==============================================
+
+- 09.18.2017
+
+* Recover : Check if the id of rxpacket is the same as the id of txpacket (c++) #82
+* Changes : Ping examples now will not show Dynamixel model number when communication is failed
+
 ==============================================
     Dynamixel SDK 3.5.1 (Protocol 1.0/2.0)
 ==============================================

c#/protocol1.0/ping/win32/ping/Ping.cs

@@ -114,9 +114,11 @@ static void Main(string[] args)
       {
         Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error)));
       }
-
-      Console.WriteLine("[ID: {0}] ping Succeeded. Dynamixel model number : {1}", DXL_ID, dxl_model_number);
-
+      else
+      {
+        Console.WriteLine("[ID: {0}] ping Succeeded. Dynamixel model number : {1}", DXL_ID, dxl_model_number);
+      }
+
       // Close port
       dynamixel.closePort(port_num);
 

c#/protocol1.0/ping/win64/ping/Ping.cs

@@ -114,9 +114,10 @@ static void Main(string[] args)
       {
         Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error)));
       }
-
-      Console.WriteLine("[ID: {0}] ping Succeeded. Dynamixel model number : {1}", DXL_ID, dxl_model_number);
-
+      else
+      {
+        Console.WriteLine("[ID: {0}] ping Succeeded. Dynamixel model number : {1}", DXL_ID, dxl_model_number);
+      }
       // Close port
       dynamixel.closePort(port_num);
 

c#/protocol2.0/ping/win32/ping/Ping.cs

@@ -114,8 +114,10 @@ static void Main(string[] args)
       {
         Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error)));
       }
-
-      Console.WriteLine("[ID: {0}] ping Succeeded. Dynamixel model number : {1}", DXL_ID, dxl_model_number);
+      else
+      {
+        Console.WriteLine("[ID: {0}] ping Succeeded. Dynamixel model number : {1}", DXL_ID, dxl_model_number);
+      }
 
       // Close port
       dynamixel.closePort(port_num);

c#/protocol2.0/ping/win64/ping/Ping.cs

@@ -114,8 +114,10 @@ static void Main(string[] args)
       {
         Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error)));
       }
-
-      Console.WriteLine("[ID: {0}] ping Succeeded. Dynamixel model number : {1}", DXL_ID, dxl_model_number);
+      else
+      {
+        Console.WriteLine("[ID: {0}] ping Succeeded. Dynamixel model number : {1}", DXL_ID, dxl_model_number);
+      }
 
       // Close port
       dynamixel.closePort(port_num);

c++/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package dynamixel_sdk
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.5.2 (2017-09-18)
+-----------
+* Recover : Check if the id of rxpacket is the same as the id of txpacket #82
+* Changes : Ping examples now will not show Dynamixel model number when communication is failed
+* Contributors: Leon
+
 3.5.1 (2017-08-18)
 -----------
 * Standardizes folder structure of ROS c++

c++/CMakeLists.txt

@@ -35,17 +35,22 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-add_library(dynamixel_sdk
-  src/dynamixel_sdk/packet_handler.cpp
-  src/dynamixel_sdk/protocol1_packet_handler.cpp
-  src/dynamixel_sdk/protocol2_packet_handler.cpp
-  src/dynamixel_sdk/group_sync_read.cpp
-  src/dynamixel_sdk/group_sync_write.cpp
-  src/dynamixel_sdk/group_bulk_read.cpp
-  src/dynamixel_sdk/group_bulk_write.cpp
-  src/dynamixel_sdk/port_handler.cpp
-  src/dynamixel_sdk/port_handler_linux.cpp
-)
+  add_library(dynamixel_sdk
+    src/dynamixel_sdk/packet_handler.cpp
+    src/dynamixel_sdk/protocol1_packet_handler.cpp
+    src/dynamixel_sdk/protocol2_packet_handler.cpp
+    src/dynamixel_sdk/group_sync_read.cpp
+    src/dynamixel_sdk/group_sync_write.cpp
+    src/dynamixel_sdk/group_bulk_read.cpp
+    src/dynamixel_sdk/group_bulk_write.cpp
+    src/dynamixel_sdk/port_handler.cpp
+  )
+if(APPLE)
+  target_sources(dynamixel_sdk PRIVATE src/dynamixel_sdk/port_handler_mac.cpp)
+else()
+  target_sources(dynamixel_sdk PRIVATE src/dynamixel_sdk/port_handler_linux.cpp)
+endif()
+
 add_dependencies(dynamixel_sdk ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(dynamixel_sdk ${catkin_LIBRARIES})
 

c++/example/protocol1.0/ping/ping.cpp

@@ -161,8 +161,10 @@ int main()
   {
     printf("%s\n", packetHandler->getRxPacketError(dxl_error));
   }
-
-  printf("[ID:%03d] ping Succeeded. Dynamixel model number : %d\n", DXL_ID, dxl_model_number);
+  else
+  {
+    printf("[ID:%03d] ping Succeeded. Dynamixel model number : %d\n", DXL_ID, dxl_model_number);
+  }
 
   // Close port
   portHandler->closePort();

c++/example/protocol2.0/ping/ping.cpp

@@ -162,8 +162,10 @@ int main()
   {
     printf("%s\n", packetHandler->getRxPacketError(dxl_error));
   }
-
-  printf("[ID:%03d] ping Succeeded. Dynamixel model number : %d\n", DXL_ID, dxl_model_number);
+  else
+  {
+    printf("[ID:%03d] ping Succeeded. Dynamixel model number : %d\n", DXL_ID, dxl_model_number);
+  }
 
   // Close port
   portHandler->closePort();

c++/include/dynamixel_sdk/packet_handler.h

@@ -289,7 +289,7 @@ class WINDECLSPEC PacketHandler
   /// @param error Dynamixel hardware error
   /// @return communication results which come from PacketHandler::rxPacket()
   ////////////////////////////////////////////////////////////////////////////////
-  virtual int readRx          (PortHandler *port, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0;
+  virtual int readRx          (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0;
 
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that transmits INST_READ instruction packet, and read data from received packet
@@ -329,7 +329,7 @@ class WINDECLSPEC PacketHandler
   /// @param error Dynamixel hardware error
   /// @return communication results which come from PacketHandler::readRx()
   ////////////////////////////////////////////////////////////////////////////////
-  virtual int read1ByteRx     (PortHandler *port, uint8_t *data, uint8_t *error = 0) = 0;
+  virtual int read1ByteRx     (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0) = 0;
 
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that calls PacketHandler::readTxRx() function for reading 1 byte data
@@ -364,7 +364,7 @@ class WINDECLSPEC PacketHandler
   /// @param error Dynamixel hardware error
   /// @return communication results which come from PacketHandler::readRx()
   ////////////////////////////////////////////////////////////////////////////////
-  virtual int read2ByteRx     (PortHandler *port, uint16_t *data, uint8_t *error = 0) = 0;
+  virtual int read2ByteRx     (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0) = 0;
 
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that calls PacketHandler::readTxRx() function for reading 2 byte data
@@ -399,7 +399,7 @@ class WINDECLSPEC PacketHandler
   /// @param error Dynamixel hardware error
   /// @return communication results which come from PacketHandler::readRx()
   ////////////////////////////////////////////////////////////////////////////////
-  virtual int read4ByteRx     (PortHandler *port, uint32_t *data, uint8_t *error = 0) = 0;
+  virtual int read4ByteRx     (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0) = 0;
 
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that calls PacketHandler::readTxRx() function for reading 4 byte data

c++/include/dynamixel_sdk/protocol1_packet_handler.h

@@ -245,7 +245,7 @@ class WINDECLSPEC Protocol1PacketHandler : public PacketHandler
   /// @param error Dynamixel hardware error
   /// @return communication results which come from Protocol1PacketHandler::rxPacket()
   ////////////////////////////////////////////////////////////////////////////////
-  int readRx          (PortHandler *port, uint16_t length, uint8_t *data, uint8_t *error = 0);
+  int readRx          (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0);
 
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that transmits INST_READ instruction packet, and read data from received packet
@@ -285,7 +285,7 @@ class WINDECLSPEC Protocol1PacketHandler : public PacketHandler
   /// @param error Dynamixel hardware error
   /// @return communication results which come from Protocol1PacketHandler::readRx()
   ////////////////////////////////////////////////////////////////////////////////
-  int read1ByteRx     (PortHandler *port, uint8_t *data, uint8_t *error = 0);
+  int read1ByteRx     (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0);
 
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that calls Protocol1PacketHandler::readTxRx() function for reading 1 byte data
@@ -320,7 +320,7 @@ class WINDECLSPEC Protocol1PacketHandler : public PacketHandler
   /// @param error Dynamixel hardware error
   /// @return communication results which come from Protocol1PacketHandler::readRx()
   ////////////////////////////////////////////////////////////////////////////////
-  int read2ByteRx     (PortHandler *port, uint16_t *data, uint8_t *error = 0);
+  int read2ByteRx     (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0);
 
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that calls Protocol1PacketHandler::readTxRx() function for reading 2 byte data
@@ -355,7 +355,7 @@ class WINDECLSPEC Protocol1PacketHandler : public PacketHandler
   /// @param error Dynamixel hardware error
   /// @return communication results which come from Protocol1PacketHandler::readRx()
   ////////////////////////////////////////////////////////////////////////////////
-  int read4ByteRx     (PortHandler *port, uint32_t *data, uint8_t *error = 0);
+  int read4ByteRx     (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0);
 
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that calls Protocol1PacketHandler::readTxRx() function for reading 4 byte data

c++/include/dynamixel_sdk/protocol2_packet_handler.h

@@ -253,7 +253,7 @@ class WINDECLSPEC Protocol2PacketHandler : public PacketHandler
   /// @param error Dynamixel hardware error
   /// @return communication results which come from Protocol2PacketHandler::rxPacket()
   ////////////////////////////////////////////////////////////////////////////////
-  int readRx          (PortHandler *port, uint16_t length, uint8_t *data, uint8_t *error = 0);
+  int readRx          (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0);
 
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that transmits INST_READ instruction packet, and read data from received packet
@@ -293,7 +293,7 @@ class WINDECLSPEC Protocol2PacketHandler : public PacketHandler
   /// @param error Dynamixel hardware error
   /// @return communication results which come from Protocol2PacketHandler::readRx()
   ////////////////////////////////////////////////////////////////////////////////
-  int read1ByteRx     (PortHandler *port, uint8_t *data, uint8_t *error = 0);
+  int read1ByteRx     (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0);
 
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that calls Protocol2PacketHandler::readTxRx() function for reading 1 byte data
@@ -328,7 +328,7 @@ class WINDECLSPEC Protocol2PacketHandler : public PacketHandler
   /// @param error Dynamixel hardware error
   /// @return communication results which come from Protocol2PacketHandler::readRx()
   ////////////////////////////////////////////////////////////////////////////////
-  int read2ByteRx     (PortHandler *port, uint16_t *data, uint8_t *error = 0);
+  int read2ByteRx     (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0);
 
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that calls Protocol2PacketHandler::readTxRx() function for reading 2 byte data
@@ -363,7 +363,7 @@ class WINDECLSPEC Protocol2PacketHandler : public PacketHandler
   /// @param error Dynamixel hardware error
   /// @return communication results which come from Protocol2PacketHandler::readRx()
   ////////////////////////////////////////////////////////////////////////////////
-  int read4ByteRx     (PortHandler *port, uint32_t *data, uint8_t *error = 0);
+  int read4ByteRx     (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0);
 
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that calls Protocol2PacketHandler::readTxRx() function for reading 4 byte data

c++/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>dynamixel_sdk</name>
-  <version>3.5.1</version>
+  <version>3.5.2</version>
   <description>This package is wrapping version of ROBOTIS Dynamxel SDK for ROS. The ROBOTIS Dynamixel SDK, or SDK, is a software development library that provides Dynamixel control functions for packet communication. The API is designed for Dynamixel actuators and Dynamixel-based platforms.</description>
   <license>BSD</license>
   <author email="[email protected]">Zerom</author>

c++/src/dynamixel_sdk/group_bulk_read.cpp

@@ -173,7 +173,7 @@ int GroupBulkRead::rxPacket()
   {
     uint8_t id = id_list_[i];
 
-    result = ph_->readRx(port_, length_list_[id], data_list_[id]);
+    result = ph_->readRx(port_, id, length_list_[id], data_list_[id]);
     if (result != COMM_SUCCESS)
       return result;
   }

c++/src/dynamixel_sdk/group_sync_read.cpp

@@ -145,7 +145,7 @@ int GroupSyncRead::rxPacket()
   {
     uint8_t id = id_list_[i];
 
-    result = ph_->readRx(port_, data_length_, data_list_[id]);
+    result = ph_->readRx(port_, id, data_length_, data_list_[id]);
     if (result != COMM_SUCCESS)
       return result;
   }