Merge pull request ROBOTIS-GIT#96 from ROBOTIS-GIT/hotfix_feature_pro…

…tocol1_0_func_dxl_x_series

hotfix - now DynamixelSDK for protocol1.0 supports read/write 4Byte (for XM series)

README.md

@@ -5,8 +5,9 @@
 --------------------------------------------------------------------------
 | 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 | 2017.05.23 |
-| Latest version released |||3.4.5|
+| Release date | 2010.05.16 | 2015.02.10 | 2016.03.08 |
+| Latest version released |||3.4.6|
+| |||(2017.07.07)|
 | OS | Linux | Windows | Linux + Windows |
 ||||+ MacOSX (coming soon)|
 | Available Dynamixel models | All models | All models | All models |
@@ -31,19 +32,19 @@
 | | | | ROS |
 | | | | Arduino (coming soon) |
 
-#####¹ C++ ver. Library is not optimized in binding other languages. Please use C ver. Library instead.  
+##### ¹ C++ ver. Library is not optimized in binding other languages. Please use C ver. Library instead.  
 ---------------------------------------------------------------------------
 
 * [Quick Start Video](https://github.com/ROBOTIS-GIT/DynamixelSDK/wiki/Quick-Start-Video) may make you run your Dynamixel in 20 minutes.
 
 [![](https://github.com/ROBOTIS-GIT/ROBOTIS-Documents/blob/master/wiki-images/DynamixelSDK/Quick%20Start/Episode%201-Introduction%20to%20the%20Dynamixel%20SDK%2C%20the%20Dynamixel%20SDK%20Wiki%2C%20and%20the%20Issues%20Section.png)](https://github.com/ROBOTIS-GIT/DynamixelSDK/wiki/Quick-Start-Video)
 
-* ####Here we opened [FAQ board](https://github.com/ROBOTIS-GIT/DynamixelSDK/wiki/FAQ). You may get your keys faster!
+* #### Here we opened [FAQ board](https://github.com/ROBOTIS-GIT/DynamixelSDK/wiki/FAQ). You may get your keys faster!
 
-* ####But any questions related with DynamixelSDK are always welcomed. Just let me know at: [ISSUES](https://github.com/ROBOTIS-GIT/DynamixelSDK/issues)
+* #### But any questions related with DynamixelSDK are always welcomed. Just let me know at: [ISSUES](https://github.com/ROBOTIS-GIT/DynamixelSDK/issues)
 
-* ####For the other questions, including Hardware-wise problems on your Dynamixels, please contact to [email protected]
+* #### For the other questions, including Hardware-wise problems on your Dynamixels, please contact to [email protected]
 
-* ####See 'How to use' in [Dynamixel SDK Manual](https://github.com/ROBOTIS-GIT/DynamixelSDK/wiki)
+* #### See 'How to use' in [Dynamixel SDK Manual](https://github.com/ROBOTIS-GIT/DynamixelSDK/wiki)
 
-* ####Visit [ROBOTIS E-Manual](http://support.robotis.com/) and have details of ROBOTIS products
+* #### Visit [ROBOTIS E-Manual](http://support.robotis.com/) and have details of ROBOTIS products

ReleaseNote.txt

@@ -1,26 +1,42 @@
 ==============================================
-    Dynamixel SDK v3.4.4 (Protocol 1.0/2.0)
+    Dynamixel SDK 3.4.6 (Protocol 1.0/2.0)
+==============================================
+
+- 07.07.2017
+
+* hotfix - now DynamixelSDK for protocol1.0 supports read/write 4Byte (for XM series)
+
+==============================================
+    Dynamixel SDK 3.4.5 (Protocol 1.0/2.0)
+==============================================
+
+- 05.23.2017
+
+* Merge branch 'kinetic-devel' of github.com:ROBOTIS-GIT/DynamixelSDK into kinetic-devel
+
+==============================================
+    Dynamixel SDK 3.4.4 (Protocol 1.0/2.0)
 ==============================================
 
 - 04.26.2017
 
 * hotfix - return delay time is changed from 4 into 8 due to the Ubuntu update 16.04.2
 
 ==============================================
-    Dynamixel SDK v3.4.3 (Protocol 1.0/2.0)
+    Dynamixel SDK 3.4.3 (Protocol 1.0/2.0)
 ==============================================
 
 - 02.17.2017
 
 * DynamixelSDK C++ ver. and ROS ver. in Windows platform now can use the port number of over then 10 #45
 
 ==============================================
-    Dynamixel SDK v3.4.2 (Protocol 1.0/2.0)
+    Dynamixel SDK 3.4.2 (Protocol 1.0/2.0)
 ==============================================
 
 - 02.16.2017
 
-* fprintf output in GrouBulkRead of C++ removed
+* fprintf output in GroupBulkRead of C++ removed
 * MATLAB library compiler error solving
 * Makefile for build example sources in SBC added
 * build files of windows c and c++ SDK rebuilt by using renewed SDK libraries
@@ -29,7 +45,7 @@
 * Solved issue : #31, #34, #36, #50
 
 ==============================================
-    Dynamixel SDK v3.4.1 (Protocol 1.0/2.0)
+    Dynamixel SDK 3.4.1 (Protocol 1.0/2.0)
 ==============================================
 
 - 08.22.2016
@@ -38,15 +54,15 @@
 * Modified c++'s original header files for ROS package
 
 ==============================================
-    Dynamixel SDK v3.4.0 (Protocol 1.0/2.0)
+    Dynamixel SDK 3.4.0 (Protocol 1.0/2.0)
 ==============================================
 
 - 08.12.2016
 
 * Added a ROS package information for ROS users
 
 ==============================================
-    Dynamixel SDK v3.3.3 (Protocol 1.0/2.0)
+    Dynamixel SDK 3.3.3 (Protocol 1.0/2.0)
 ==============================================
 
 - 08.03.2016
@@ -63,7 +79,7 @@
 
 
 ==============================================
-    Dynamixel SDK v3.3.2 (Protocol 1.0/2.0)
+    Dynamixel SDK 3.3.2 (Protocol 1.0/2.0)
 ==============================================
 
 - 06.30.2016
@@ -73,7 +89,7 @@
 * Solved issue : #3, #8
 
 ==============================================
-    Dynamixel SDK v3.3.1 (Protocol 1.0/2.0)
+    Dynamixel SDK 3.3.1 (Protocol 1.0/2.0)
 ==============================================
 
 - 06.30.2016
@@ -83,7 +99,7 @@
 * Solved issue : #3, #8
 
 ==============================================
-    Dynamixel SDK v3.3.0 (Protocol 1.0/2.0)
+    Dynamixel SDK 3.3.0 (Protocol 1.0/2.0)
 ==============================================
 
 - 06.28.2016
@@ -98,7 +114,7 @@
 * Solved issue : #3, #8
 
 ==============================================
-    Dynamixel SDK v3.2.0 (Protocol 1.0/2.0)
+    Dynamixel SDK 3.2.0 (Protocol 1.0/2.0)
 ==============================================
 
 - 06.07.2016
@@ -109,7 +125,7 @@
 * Solved issue : #3
 
 ==============================================
-    Dynamixel SDK v3.1.0 (Protocol 1.0/2.0)
+    Dynamixel SDK 3.1.0 (Protocol 1.0/2.0)
 ==============================================
 
 - 05.31.2016
@@ -121,7 +137,7 @@
 * Solved issue : #3
 
 ==============================================
-    Dynamixel SDK v3.0.0 (Protocol 1.0/2.0)
+    Dynamixel SDK 3.0.0 (Protocol 1.0/2.0)
 ==============================================
 
 - 03.08.2016

c++/src/dynamixel_sdk/protocol1_packet_handler.cpp

@@ -517,15 +517,23 @@ int Protocol1PacketHandler::read2ByteTxRx(PortHandler *port, uint8_t id, uint16_
 
 int Protocol1PacketHandler::read4ByteTx(PortHandler *port, uint8_t id, uint16_t address)
 {
-  return COMM_NOT_AVAILABLE;
+  return readTx(port, id, address, 4);
 }
 int Protocol1PacketHandler::read4ByteRx(PortHandler *port, uint32_t *data, uint8_t *error)
 {
-  return COMM_NOT_AVAILABLE;
+  uint8_t data_read[4] = {0};
+  int result = readRx(port, 4, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3]));
+  return result;
 }
 int Protocol1PacketHandler::read4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error)
 {
-  return COMM_NOT_AVAILABLE;
+  uint8_t data_read[4] = {0};
+  int result = readTxRx(port, id, address, 4, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3]));
+  return result;
 }
 
 int Protocol1PacketHandler::writeTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data)
@@ -600,11 +608,13 @@ int Protocol1PacketHandler::write2ByteTxRx(PortHandler *port, uint8_t id, uint16
 
 int Protocol1PacketHandler::write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data)
 {
-  return COMM_NOT_AVAILABLE;
+  uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) };
+  return writeTxOnly(port, id, address, 4, data_write);
 }
 int Protocol1PacketHandler::write4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error)
 {
-  return COMM_NOT_AVAILABLE;
+  uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) };
+  return writeTxRx(port, id, address, 4, data_write, error);
 }
 
 int Protocol1PacketHandler::regWriteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data)

c/src/dynamixel_sdk/protocol1_packet_handler.c

@@ -577,16 +577,30 @@ uint16_t read2ByteTxRx1(int port_num, uint8_t id, uint16_t address)
 
 void read4ByteTx1(int port_num, uint8_t id, uint16_t address)
 {
-  packetData[port_num].communication_result = COMM_NOT_AVAILABLE;
+  readTx1(port_num, id, address, 4);
 }
 uint32_t read4ByteRx1(int port_num)
 {
-  packetData[port_num].communication_result = COMM_NOT_AVAILABLE;
+  packetData[port_num].data_read = (uint8_t *)realloc(packetData[port_num].data_read, 4 * sizeof(uint8_t));
+  packetData[port_num].data_read[0] = 0;
+  packetData[port_num].data_read[1] = 0;
+  packetData[port_num].data_read[2] = 0;
+  packetData[port_num].data_read[3] = 0;
+  readRx1(port_num, 4);
+  if (packetData[port_num].communication_result == COMM_SUCCESS)
+    return DXL_MAKEDWORD(DXL_MAKEWORD(packetData[port_num].data_read[0], packetData[port_num].data_read[1]), DXL_MAKEWORD(packetData[port_num].data_read[2], packetData[port_num].data_read[3]));
   return 0;
 }
 uint32_t read4ByteTxRx1(int port_num, uint8_t id, uint16_t address)
 {
-  packetData[port_num].communication_result = COMM_NOT_AVAILABLE;
+  packetData[port_num].data_read = (uint8_t *)realloc(packetData[port_num].data_read, 4 * sizeof(uint8_t));
+  packetData[port_num].data_read[0] = 0;
+  packetData[port_num].data_read[1] = 0;
+  packetData[port_num].data_read[2] = 0;
+  packetData[port_num].data_read[3] = 0;
+  readTxRx1(port_num, id, address, 4);
+  if (packetData[port_num].communication_result == COMM_SUCCESS)
+    return DXL_MAKEDWORD(DXL_MAKEWORD(packetData[port_num].data_read[0], packetData[port_num].data_read[1]), DXL_MAKEWORD(packetData[port_num].data_read[2], packetData[port_num].data_read[3]));
   return 0;
 }
 
@@ -664,11 +678,21 @@ void write2ByteTxRx1(int port_num, uint8_t id, uint16_t address, uint16_t data)
 
 void write4ByteTxOnly1(int port_num, uint8_t id, uint16_t address, uint32_t data)
 {
-  packetData[port_num].communication_result = COMM_NOT_AVAILABLE;
+  packetData[port_num].data_write = (uint8_t *)realloc(packetData[port_num].data_write, 4 * sizeof(uint8_t));
+  packetData[port_num].data_write[0] = DXL_LOBYTE(DXL_LOWORD(data));
+  packetData[port_num].data_write[1] = DXL_HIBYTE(DXL_LOWORD(data));
+  packetData[port_num].data_write[2] = DXL_LOBYTE(DXL_HIWORD(data));
+  packetData[port_num].data_write[3] = DXL_HIBYTE(DXL_HIWORD(data));
+  writeTxOnly1(port_num, id, address, 4);
 }
 void write4ByteTxRx1(int port_num, uint8_t id, uint16_t address, uint32_t data)
 {
-  packetData[port_num].communication_result = COMM_NOT_AVAILABLE;
+  packetData[port_num].data_write = (uint8_t *)realloc(packetData[port_num].data_write, 4 * sizeof(uint8_t));
+  packetData[port_num].data_write[0] = DXL_LOBYTE(DXL_LOWORD(data));
+  packetData[port_num].data_write[1] = DXL_HIBYTE(DXL_LOWORD(data));
+  packetData[port_num].data_write[2] = DXL_LOBYTE(DXL_HIWORD(data));
+  packetData[port_num].data_write[3] = DXL_HIBYTE(DXL_HIWORD(data));
+  writeTxRx1(port_num, id, address, 4);
 }
 
 void regWriteTxOnly1(int port_num, uint8_t id, uint16_t address, uint16_t length)

ros/src/protocol1_packet_handler.cpp

@@ -523,15 +523,23 @@ int Protocol1PacketHandler::read2ByteTxRx(PortHandler *port, uint8_t id, uint16_
 
 int Protocol1PacketHandler::read4ByteTx(PortHandler *port, uint8_t id, uint16_t address)
 {
-  return COMM_NOT_AVAILABLE;
+  return readTx(port, id, address, 4);
 }
 int Protocol1PacketHandler::read4ByteRx(PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error)
 {
-  return COMM_NOT_AVAILABLE;
+  uint8_t data_read[4] = {0};
+  int result = readRx(port, id, 4, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3]));
+  return result;
 }
 int Protocol1PacketHandler::read4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error)
 {
-  return COMM_NOT_AVAILABLE;
+  uint8_t data_read[4] = {0};
+  int result = readTxRx(port, id, address, 4, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3]));
+  return result;
 }
 
 int Protocol1PacketHandler::writeTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data)
@@ -606,11 +614,13 @@ int Protocol1PacketHandler::write2ByteTxRx(PortHandler *port, uint8_t id, uint16
 
 int Protocol1PacketHandler::write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data)
 {
-  return COMM_NOT_AVAILABLE;
+  uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) };
+  return writeTxOnly(port, id, address, 4, data_write);
 }
 int Protocol1PacketHandler::write4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error)
 {
-  return COMM_NOT_AVAILABLE;
+  uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) };
+  return writeTxRx(port, id, address, 4, data_write, error);
 }
 
 int Protocol1PacketHandler::regWriteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data)