dynamixel_reader.h File Reference

Interface definition for Dynamixel packet reader. More...

Detailed Description

Interface definition for Dynamixel packet reader.

Author

Loïc Dauphin loic..nosp@m.daup.nosp@m.hin@i.nosp@m.nria.nosp@m..fr

Definition in file dynamixel_reader.h.

#include <stdlib.h>
#include <stdbool.h>
#include "dynamixel_protocol.h"

Include dependency graph for dynamixel_reader.h:

Go to the source code of this file.

Data Structures
struct	dynamixel_reader_t
	Dynamixel packet reader struct. More...
#define	DXL_PING_SIZE   (10)
#define	DXL_STATUS_SIZE(len)
#define	DXL_READ_SIZE   (14)
#define	DXL_WRITE_SIZE(len)
static void	dynamixel_reader_init (dynamixel_reader_t *reader, const uint8_t *buffer, size_t size)
	Initialize the Dynamixel packet reader.
bool	dynamixel_reader_is_valid (const dynamixel_reader_t *reader)
	Check if the packet is valid.
static uint8_t	dynamixel_reader_get_id (const dynamixel_reader_t *reader)
	Get the packet's device id.
static uint8_t	dynamixel_reader_get_instr (const dynamixel_reader_t *reader)
	Get the packet's instruction code.
static uint16_t	dynamixel_reader_get_length (const dynamixel_reader_t *reader)
	Get the packet's length field.
static uint16_t	dynamixel_reader_get_crc (const dynamixel_reader_t *reader)
	Get the packet's crc.
static const uint8_t *	dynamixel_reader_status_get_payload (const dynamixel_reader_t *reader)
	Get the packet's payload (response)
static size_t	dynamixel_reader_status_get_payload_size (const dynamixel_reader_t *reader)
	Get the packet's payload size (response)

Macro Definition Documentation

DXL_PING_SIZE

#define DXL_PING_SIZE   (10)

Definition at line 31 of file dynamixel_reader.h.

DXL_READ_SIZE

#define DXL_READ_SIZE   (14)

Definition at line 33 of file dynamixel_reader.h.

DXL_STATUS_SIZE

#define DXL_STATUS_SIZE

(

len

)

Value:

(11+len)

Definition at line 32 of file dynamixel_reader.h.

DXL_WRITE_SIZE

#define DXL_WRITE_SIZE

(

len

)

Value:

(12+len)

Definition at line 34 of file dynamixel_reader.h.

Function Documentation

dynamixel_reader_get_crc()

static uint16_t dynamixel_reader_get_crc ( const dynamixel_reader_t * reader )

inlinestatic

Get the packet's crc.

Parameters

[in]

reader

the packet reader

Returns

the packet's length field

Definition at line 112 of file dynamixel_reader.h.

dynamixel_reader_get_id()

static uint8_t dynamixel_reader_get_id ( const dynamixel_reader_t * reader )

inlinestatic

Get the packet's device id.

Parameters

[in]

reader

the packet reader

Returns

the packet's device id

Definition at line 74 of file dynamixel_reader.h.

dynamixel_reader_get_instr()

static uint8_t dynamixel_reader_get_instr ( const dynamixel_reader_t * reader )

inlinestatic

Get the packet's instruction code.

Parameters

[in]

reader

the packet reader

Returns

the packet's instruction code

Definition at line 86 of file dynamixel_reader.h.

dynamixel_reader_get_length()

static uint16_t dynamixel_reader_get_length ( const dynamixel_reader_t * reader )

inlinestatic

Get the packet's length field.

Parameters

[in]

reader

the packet reader

Returns

the packet's length field

Definition at line 98 of file dynamixel_reader.h.

dynamixel_reader_init()

static void dynamixel_reader_init ( dynamixel_reader_t * reader, const uint8_t * buffer, size_t size )

inlinestatic

Initialize the Dynamixel packet reader.

Parameters

[out]	reader	the packet reader
[in]	buffer	the buffer used to store data
[in]	size	the size of the buffer

Definition at line 51 of file dynamixel_reader.h.

dynamixel_reader_is_valid()

bool dynamixel_reader_is_valid

(

const dynamixel_reader_t *

reader

)

Check if the packet is valid.

Parameters

[in]

reader

the packet reader

Returns

true if the packet is valid

false otherwise

dynamixel_reader_status_get_payload()

static const uint8_t * dynamixel_reader_status_get_payload ( const dynamixel_reader_t * reader )

inlinestatic

Get the packet's payload (response)

Parameters

[in]

reader

the packet reader

Returns

the address of the beginning of the payload

Definition at line 126 of file dynamixel_reader.h.

dynamixel_reader_status_get_payload_size()

static size_t dynamixel_reader_status_get_payload_size ( const dynamixel_reader_t * reader )

inlinestatic

Get the packet's payload size (response)

Parameters

[in]

reader

the packet reader

Returns

the size of the payload

Definition at line 138 of file dynamixel_reader.h.