Merge pull request #188 from ROBOTIS-GIT/develop

Develop

CONTRIBUTING.md

@@ -7,14 +7,14 @@ so the work was very hard to be carried out so far.
 
 Hence, I will update some GUIDELINES that is very necessary to get your ideas be MERGED.
 
-1. After every release, there is a 'develop' branch. To make your idea be accepted on the next release, 
+1. After every release, there is a 'develop' branch. To make your idea be accepted on the next release,
 YOU SHOULD GET PULL REQUEST BASED ON 'DEVELOP' BRANCH, NOT 'MASTER' BRANCH!!
 All pull requests based on 'master' branch will be 'suspended' or 'won't fix', so make sure before the pull request.
 
-2. I'm hoping that many users can list up on the [CONTRIBUTORS](https://github.com/ROBOTIS-GIT/DynamixelSDK/graphs/contributors). 
-Seriously, I don't want to get your idea as my name but as your name. However, if your idea is left as based on 'develop branch' or idle, 
+2. I'm hoping that many users can list up on the [CONTRIBUTORS](https://github.com/ROBOTIS-GIT/DynamixelSDK/graphs/contributors).
+Seriously, I don't want to get your idea as my name but as your name. However, if your idea is left as based on 'develop branch' or idle,
 I can't do anything but upload your idea as my name.
 
 Thank you every time again, and let's make the source better to get many users happy while make Dynamixel applications.
 
-2017.12.01 doc ver 1.0.0
+2017.12.01 doc ver 1.0.1

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         = 3.5.4
+PROJECT_NUMBER         = 3.6.0
 
 # 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

@@ -15,8 +15,8 @@
 | 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 |||3.5.4|
-| |||(2017.12.01)|
+| Latest version released |||3.6.0|
+| |||(18.03.16)|
 | OS | Linux | Windows | Linux + Windows + Mac |
 | Available Dynamixel models | All models | All models | All models |
 |||||
@@ -34,11 +34,11 @@
 | | | MATLAB| MATLAB |
 | | | LabVIEW| LabVIEW |
 | | | VB| |
-| | | | Python |
 | | | | Java |
 | (C++ ver. Library binded)¹| C++|  | C++|
 | | | | ROS |
 | | | | Arduino |
+| (Python ver. Library binded)| Python|  | Python|
 
 ##### ¹ C++ ver. Library is not optimized in binding other languages. Please use C ver. Library instead.  
 ---------------------------------------------------------------------------

ReleaseNote.txt

@@ -1,3 +1,17 @@
+==============================================
+    Dynamixel SDK 3.6.0 (Protocol 1.0/2.0)
+==============================================
+
+- 03.16.2018
+
+* Replaced : DynamixelSDK Python as a native language (Python 2 and 3 for Windows, Linux, Mac OS X) #93 #122 #147 #181 #182 #185
+* Added : CONTRIBUTING.md added
+* Changes : ISSUE_TEMPLATE.md modified
+* Changes : C++ version - SyncRead / BulkRead - getError functions added
+* Changes : Deprecated functions removed
+* Fixes : DynamixelSDK MATLAB 2017 - new typedef (int8_t / int16_t / int32_t) applied in robotis_def.h #161 #179
+* Fixes : Added missing header file for reset and factory_reset examples #167
+
 ==============================================
     Dynamixel SDK 3.5.4 (Protocol 1.0/2.0)
 ==============================================

c#/dynamixel_functions_csharp/win32/dynamixel.cs

@@ -63,13 +63,9 @@ class dynamixel
     [DllImport(dll_path)]
     public static extern void   packetHandler       ();
 
-    [DllImport(dll_path)]
-    public static extern void   printTxRxResult     (int protocol_version, int result);
     [DllImport(dll_path)]
     public static extern IntPtr getTxRxResult       (int protocol_version, int result);
     [DllImport(dll_path)]
-    public static extern void   printRxPacketError  (int protocol_version, byte error);
-    [DllImport(dll_path)]
     public static extern IntPtr getRxPacketError    (int protocol_version, byte error);
 
     [DllImport(dll_path)]

c#/dynamixel_functions_csharp/win64/dynamixel.cs

@@ -63,13 +63,9 @@ class dynamixel
     [DllImport(dll_path)]
     public static extern void   packetHandler       ();
 
-    [DllImport(dll_path)]
-    public static extern void   printTxRxResult     (int protocol_version, int result);
     [DllImport(dll_path)]
     public static extern IntPtr getTxRxResult       (int protocol_version, int result);
     [DllImport(dll_path)]
-    public static extern void   printRxPacketError  (int protocol_version, byte error);
-    [DllImport(dll_path)]
     public static extern IntPtr getRxPacketError    (int protocol_version, byte error);
 
     [DllImport(dll_path)]

c++/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package dynamixel_sdk
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.6.0 (2018-03-16)
+-----------
+* Replaced : DynamixelSDK Python as a native language (Python 2 and 3 for Windows, Linux, Mac OS X) #93 #122 #147 #181 #182 #185
+* Added : CONTRIBUTING.md added
+* Changes : ISSUE_TEMPLATE.md modified
+* Changes : C++ version - SyncRead / BulkRead - getError functions added
+* Changes : Deprecated functions removed
+* Fixes : DynamixelSDK MATLAB 2017 - new typedef (int8_t / int16_t / int32_t) applied in robotis_def.h #161 #179
+* Fixes : Added missing header file for reset and factory_reset examples #167
+* Contributors: Leon
+
 3.5.4 (2017-12-01)
 -----------
 * Added : Deprecated is now being shown by attributes #67 #107

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

@@ -243,7 +243,18 @@ int main()
     {
       // Bulkread present position and moving status
       dxl_comm_result = groupBulkRead.txRxPacket();
-      if (dxl_comm_result != COMM_SUCCESS) printf("%s\n", packetHandler->getTxRxResult(dxl_comm_result));
+      if (dxl_comm_result != COMM_SUCCESS)
+      {
+        printf("%s\n", packetHandler->getTxRxResult(dxl_comm_result));
+      }
+      else if (groupBulkRead.getError(DXL1_ID, &dxl_error))
+      {
+        printf("[ID:%03d] %s\n", DXL1_ID, packetHandler->getRxPacketError(dxl_error));
+      }
+      else if (groupBulkRead.getError(DXL2_ID, &dxl_error))
+      {
+        printf("[ID:%03d] %s\n", DXL2_ID, packetHandler->getRxPacketError(dxl_error));
+      }
 
       dxl_getdata_result = groupBulkRead.isAvailable(DXL1_ID, ADDR_MX_PRESENT_POSITION, LEN_MX_PRESENT_POSITION);
       if (dxl_getdata_result != true)

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

@@ -32,6 +32,7 @@
 #if defined(__linux__) || defined(__APPLE__)
 #include <fcntl.h>
 #include <termios.h>
+#include <unistd.h>
 #define STDIN_FILENO 0
 #elif defined(_WIN32) || defined(_WIN64)
 #include <conio.h>

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

@@ -256,7 +256,18 @@ int main()
     {
       // Bulkread present position and LED status
       dxl_comm_result = groupBulkRead.txRxPacket();
-      if (dxl_comm_result != COMM_SUCCESS) printf("%s\n", packetHandler->getTxRxResult(dxl_comm_result));
+      if (dxl_comm_result != COMM_SUCCESS)
+      {
+        printf("%s\n", packetHandler->getTxRxResult(dxl_comm_result));
+      }
+      else if (groupBulkRead.getError(DXL1_ID, &dxl_error))
+      {
+        printf("[ID:%03d] %s\n", DXL1_ID, packetHandler->getRxPacketError(dxl_error));
+      }
+      else if (groupBulkRead.getError(DXL2_ID, &dxl_error))
+      {
+        printf("[ID:%03d] %s\n", DXL2_ID, packetHandler->getRxPacketError(dxl_error));
+      }
 
       // Check if groupbulkread data of Dynamixel#1 is available
       dxl_getdata_result = groupBulkRead.isAvailable(DXL1_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);

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

@@ -32,6 +32,7 @@
 #if defined(__linux__) || defined(__APPLE__)
 #include <fcntl.h>
 #include <termios.h>
+#include <unistd.h>
 #define STDIN_FILENO 0
 #elif defined(_WIN32) || defined(_WIN64)
 #include <conio.h>

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

@@ -252,7 +252,18 @@ int main()
     {
       // Syncread present position
       dxl_comm_result = groupSyncRead.txRxPacket();
-      if (dxl_comm_result != COMM_SUCCESS) printf("%s\n", packetHandler->getTxRxResult(dxl_comm_result));
+      if (dxl_comm_result != COMM_SUCCESS)
+      {
+        printf("%s\n", packetHandler->getTxRxResult(dxl_comm_result));
+      }
+      else if (groupSyncRead.getError(DXL1_ID, &dxl_error))
+      {
+        printf("[ID:%03d] %s\n", DXL1_ID, packetHandler->getRxPacketError(dxl_error));
+      }
+      else if (groupSyncRead.getError(DXL2_ID, &dxl_error))
+      {
+        printf("[ID:%03d] %s\n", DXL2_ID, packetHandler->getRxPacketError(dxl_error));
+      }
 
       // Check if groupsyncread data of Dynamixel#1 is available
       dxl_getdata_result = groupSyncRead.isAvailable(DXL1_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);

c++/include/dynamixel_sdk/group_bulk_read.h

@@ -44,6 +44,7 @@ class WINDECLSPEC GroupBulkRead
   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_;
@@ -148,6 +149,16 @@ class WINDECLSPEC GroupBulkRead
   /// @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);
 };
 
 }

c++/include/dynamixel_sdk/group_sync_read.h

@@ -41,7 +41,8 @@ class WINDECLSPEC GroupSyncRead
   PacketHandler  *ph_;
 
   std::vector<uint8_t>            id_list_;
-  std::map<uint8_t, uint8_t* >    data_list_; // <id, data>
+  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_;
@@ -152,6 +153,16 @@ class WINDECLSPEC GroupSyncRead
   /// @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 GroupSyncRead::rxPacket or GroupSyncRead::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);
 };
 
 }

c++/include/dynamixel_sdk/packet_handler.h

@@ -100,27 +100,13 @@ class WINDECLSPEC PacketHandler
   ////////////////////////////////////////////////////////////////////////////////
   virtual const char *getTxRxResult     (int result) = 0;
 
-  ////////////////////////////////////////////////////////////////////////////////
-  /// @brief The function that prints out description of communication result
-  /// @param result Communication result which might be gotten by the tx rx functions
-  /// @todo This function is deprecated (removed in DynamixelSDK ver. 3.6.1)
-  ////////////////////////////////////////////////////////////////////////////////
-  DEPRECATED virtual void printTxRxResult          (int result) = 0;
-
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that gets description of hardware error
   /// @param error Dynamixel hardware error which might be gotten by the tx rx functions
   /// @return description of hardware error in const char* (string)
   ////////////////////////////////////////////////////////////////////////////////
   virtual const char *getRxPacketError  (uint8_t error) = 0;
 
-  ////////////////////////////////////////////////////////////////////////////////
-  /// @brief The function that prints out description of hardware error
-  /// @param error Dynamixel hardware error which might be gotten by the tx rx functions
-  /// @todo This function is deprecated (removed in DynamixelSDK ver. 3.6.1)
-  ////////////////////////////////////////////////////////////////////////////////
-  DEPRECATED virtual void printRxPacketError       (uint8_t error) = 0;
-
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that transmits the instruction packet txpacket via PortHandler port.
   /// @description The function clears the port buffer by PortHandler::clearPort() function,

c++/include/dynamixel_sdk/protocol1_packet_handler.h

@@ -60,27 +60,13 @@ class WINDECLSPEC Protocol1PacketHandler : public PacketHandler
   ////////////////////////////////////////////////////////////////////////////////
   const char *getTxRxResult     (int result);
 
-  ////////////////////////////////////////////////////////////////////////////////
-  /// @brief The function that prints out description of communication result
-  /// @param result Communication result which might be gotten by the tx rx functions
-  /// @todo This function is deprecated (removed in DynamixelSDK ver. 3.6.1)
-  ////////////////////////////////////////////////////////////////////////////////
-  DEPRECATED void printTxRxResult          (int result);
-
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that gets description of hardware error
   /// @param error Dynamixel hardware error which might be gotten by the tx rx functions
   /// @return description of hardware error in const char* (string)
   ////////////////////////////////////////////////////////////////////////////////
   const char *getRxPacketError  (uint8_t error);
 
-  ////////////////////////////////////////////////////////////////////////////////
-  /// @brief The function that prints out description of hardware error
-  /// @param error Dynamixel hardware error which might be gotten by the tx rx functions
-  /// @todo This function is deprecated (removed in DynamixelSDK ver. 3.6.1)
-  ////////////////////////////////////////////////////////////////////////////////
-  DEPRECATED void printRxPacketError       (uint8_t error);
-
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that transmits the instruction packet txpacket via PortHandler port.
   /// @description The function clears the port buffer by PortHandler::clearPort() function,

c++/include/dynamixel_sdk/protocol2_packet_handler.h

@@ -64,27 +64,13 @@ class WINDECLSPEC Protocol2PacketHandler : public PacketHandler
   ////////////////////////////////////////////////////////////////////////////////
   const char *getTxRxResult     (int result);
 
-  ////////////////////////////////////////////////////////////////////////////////
-  /// @brief The function that prints out description of communication result
-  /// @param result Communication result which might be gotten by the tx rx functions
-  /// @todo This function is deprecated (removed in DynamixelSDK ver. 3.6.1)
-  ////////////////////////////////////////////////////////////////////////////////
-  DEPRECATED void printTxRxResult          (int result);
-
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that gets description of hardware error
   /// @param error Dynamixel hardware error which might be gotten by the tx rx functions
   /// @return description of hardware error in const char* (string)
   ////////////////////////////////////////////////////////////////////////////////
   const char *getRxPacketError  (uint8_t error);
 
-  ////////////////////////////////////////////////////////////////////////////////
-  /// @brief The function that prints out description of hardware error
-  /// @param error Dynamixel hardware error which might be gotten by the tx rx functions
-  /// @todo This function is deprecated (removed in DynamixelSDK ver. 3.6.1)
-  ////////////////////////////////////////////////////////////////////////////////
-  DEPRECATED void printRxPacketError       (uint8_t error);
-
   ////////////////////////////////////////////////////////////////////////////////
   /// @brief The function that transmits the instruction packet txpacket via PortHandler port.
   /// @description The function clears the port buffer by PortHandler::clearPort() function,

c++/library.properties

@@ -1,5 +1,5 @@
 name=DynamixelSDK
-version=3.5.4
+version=3.6.0
 author=ROBOTIS
 maintainer=ROBOTIS
 sentence=DynamixelSDK for Arduino

c++/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>dynamixel_sdk</name>
-  <version>3.5.4</version>
+  <version>3.6.0</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>Apache-2.0</license>
   <author email="[email protected]">Zerom</author>