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Fixed some bugs in sync/bulk raw APIs.
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Kei committed Dec 26, 2019
1 parent a67c5fc commit e7d99e4
Showing 1 changed file with 46 additions and 31 deletions.
77 changes: 46 additions & 31 deletions src/utility/master.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -600,14 +600,15 @@ Master::syncRead(InfoSyncReadInst_t* p_info, uint32_t timeout_ms)
return 0;
}

if(p_info->packet.p_buf != nullptr){
p_packet_buf = p_info->packet.p_buf;
packet_buf_cap = p_info->packet.buf_capacity;
}else{
p_packet_buf = p_packet_buf_;
packet_buf_cap = packet_buf_capacity_;
}

if(p_info->packet.is_completed == false || p_info->is_info_changed == true){
if(p_info->packet.p_buf != nullptr){
p_packet_buf = p_info->packet.p_buf;
packet_buf_cap = p_info->packet.buf_capacity;
}else{
p_packet_buf = p_packet_buf_;
packet_buf_cap = packet_buf_capacity_;
}
err = begin_make_dxl_packet(&info_tx_packet_, DXL_BROADCAST_ID, protocol_ver_idx_,
DXL_INST_SYNC_READ, 0, p_packet_buf, packet_buf_cap);
if(err == DXL_LIB_OK){
Expand All @@ -628,7 +629,8 @@ Master::syncRead(InfoSyncReadInst_t* p_info, uint32_t timeout_ms)
err = end_make_dxl_packet(&info_tx_packet_);
if(err == DXL_LIB_OK){
p_info->packet.gen_length = info_tx_packet_.generated_packet_length;
p_info->packet.is_completed = true;
p_info->packet.is_completed = true;
p_info->is_info_changed = false;
}
}
}
Expand All @@ -655,6 +657,8 @@ Master::syncRead(InfoSyncReadInst_t* p_info, uint32_t timeout_ms)
break;
}
}
}else{
p_info->packet.is_completed = false;
}
last_lib_err_ = err;

Expand Down Expand Up @@ -687,14 +691,15 @@ Master::syncWrite(InfoSyncWriteInst_t* p_info)
return 0;
}

if(p_info->packet.p_buf != nullptr){
p_packet_buf = p_info->packet.p_buf;
packet_buf_cap = p_info->packet.buf_capacity;
}else{
p_packet_buf = p_packet_buf_;
packet_buf_cap = packet_buf_capacity_;
}

if(p_info->packet.is_completed == false || p_info->is_info_changed == true){
if(p_info->packet.p_buf != nullptr){
p_packet_buf = p_info->packet.p_buf;
packet_buf_cap = p_info->packet.buf_capacity;
}else{
p_packet_buf = p_packet_buf_;
packet_buf_cap = packet_buf_capacity_;
}
err = begin_make_dxl_packet(&info_tx_packet_, DXL_BROADCAST_ID, protocol_ver_idx_,
DXL_INST_SYNC_WRITE, 0, p_packet_buf, packet_buf_cap);
if(err == DXL_LIB_OK){
Expand Down Expand Up @@ -726,6 +731,7 @@ Master::syncWrite(InfoSyncWriteInst_t* p_info)
if(err == DXL_LIB_OK){
p_info->packet.gen_length = info_tx_packet_.generated_packet_length;
p_info->packet.is_completed = true;
p_info->is_info_changed = false;
}
}
}
Expand All @@ -738,6 +744,8 @@ Master::syncWrite(InfoSyncWriteInst_t* p_info)
if(err == DXL_LIB_OK){
p_port_->write(p_packet_buf, p_info->packet.gen_length);
ret = true;
}else{
p_info->packet.is_completed = false;
}
last_lib_err_ = err;

Expand Down Expand Up @@ -770,15 +778,15 @@ Master::bulkRead(InfoBulkReadInst_t* p_info, uint32_t timeout_ms)
return 0;
}

if(p_info->packet.is_completed == false || p_info->is_info_changed == true){
if(p_info->packet.p_buf != nullptr){
p_packet_buf = p_info->packet.p_buf;
packet_buf_cap = p_info->packet.buf_capacity;
}else{
p_packet_buf = p_packet_buf_;
packet_buf_cap = packet_buf_capacity_;
}

if(p_info->packet.p_buf != nullptr){
p_packet_buf = p_info->packet.p_buf;
packet_buf_cap = p_info->packet.buf_capacity;
}else{
p_packet_buf = p_packet_buf_;
packet_buf_cap = packet_buf_capacity_;
}
if(p_info->packet.is_completed == false || p_info->is_info_changed == true){
err = begin_make_dxl_packet(&info_tx_packet_, DXL_BROADCAST_ID, protocol_ver_idx_,
DXL_INST_BULK_READ, 0, p_packet_buf, packet_buf_cap);
if(protocol_ver_idx_ == 1 && err == DXL_LIB_OK){
Expand Down Expand Up @@ -810,6 +818,7 @@ Master::bulkRead(InfoBulkReadInst_t* p_info, uint32_t timeout_ms)
if(err == DXL_LIB_OK){
p_info->packet.gen_length = info_tx_packet_.generated_packet_length;
p_info->packet.is_completed = true;
p_info->is_info_changed = false;
}
}
}
Expand All @@ -835,6 +844,8 @@ Master::bulkRead(InfoBulkReadInst_t* p_info, uint32_t timeout_ms)
break;
}
}
}else{
p_info->packet.is_completed = false;
}
last_lib_err_ = err;

Expand Down Expand Up @@ -867,14 +878,15 @@ Master::bulkWrite(InfoBulkWriteInst_t* p_info)
return 0;
}

if(p_info->packet.p_buf != nullptr){
p_packet_buf = p_info->packet.p_buf;
packet_buf_cap = p_info->packet.buf_capacity;
}else{
p_packet_buf = p_packet_buf_;
packet_buf_cap = packet_buf_capacity_;
}

if(p_info->packet.is_completed == false || p_info->is_info_changed == true){
if(p_info->packet.p_buf != nullptr){
p_packet_buf = p_info->packet.p_buf;
packet_buf_cap = p_info->packet.buf_capacity;
}else{
p_packet_buf = p_packet_buf_;
packet_buf_cap = packet_buf_capacity_;
}
err = begin_make_dxl_packet(&info_tx_packet_, DXL_BROADCAST_ID, protocol_ver_idx_,
DXL_INST_BULK_WRITE, 0, p_packet_buf, packet_buf_cap);
if(err == DXL_LIB_OK){
Expand All @@ -898,7 +910,8 @@ Master::bulkWrite(InfoBulkWriteInst_t* p_info)
err = end_make_dxl_packet(&info_tx_packet_);
if(err == DXL_LIB_OK){
p_info->packet.gen_length = info_tx_packet_.generated_packet_length;
p_info->packet.is_completed = true;
p_info->packet.is_completed = true;
p_info->is_info_changed = false;
}
}
}
Expand All @@ -910,6 +923,8 @@ Master::bulkWrite(InfoBulkWriteInst_t* p_info)
if(err == DXL_LIB_OK){
p_port_->write(p_packet_buf, p_info->packet.gen_length);
ret = true;
}else{
p_info->packet.is_completed = false;
}
last_lib_err_ = err;

Expand Down

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