Dynamixel Easy SDK update in cpp linux 64bit

[GyuH13]

[SDK Update] Object-Oriented Motor-Based SDK

Project Goal: Provide a high-level, object-oriented SDK that allows users to control motors more easily and intuitively.
Project Overview: Provide a high-level, motor-object-based control SDK built upon the existing low-level, packet-based communication control.
Supported Protocol: Protocol 2.0
Supported Operating System: Linux 64bit
Supported Language: C++ 17 above
Module Name: Dynamixel Easy SDK

Class Structure:

• Connector.hpp: Owns PacketHandler and PortHandler, manages objects, and communicates with motors.
• Motor.hpp: An abstract object for each motor that sends commands via the Connector.
• control_table.hpp: Parses control table files and automatically recognizes the table for each model.
• dynamixel_error.hpp: Contains the Result<T, E> implementation and DxlRuntimeError class.
• GroupExecutor: Execute staged command for group control in simultaneously.

Related PR

• SDK windows update and Dynamixel Easy SDK manual update emanual#1825

[gemini-code-assist]

Summary of Changes

Hello @GyuH13, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request significantly upgrades the Dynamixel SDK by introducing a new high-level, object-oriented C++ API. The primary goal is to make motor control more intuitive and user-friendly, abstracting away the complexities of low-level packet-based communication. This update streamlines the setup process, automates motor model recognition, and implements a robust error handling strategy, ultimately enhancing the developer experience for Linux 64-bit C++17 projects.

Highlights

• New Object-Oriented C++ API: Introduces a high-level, object-oriented C++ API for Dynamixel motors, simplifying control and interaction by abstracting low-level communication details.
• Streamlined Connection Management: Consolidates port and packet handling into a single Connector class, simplifying the setup process for communication with motors.
• Automatic Model and Control Table Recognition: Enables automatic identification of motor models and their corresponding control tables, eliminating the need for manual memory address management.
• Enhanced Error Handling: Implements a robust error handling strategy using a custom Result template for recoverable communication errors and DxlRuntimeError for fatal initialization failures, along with clear enum class error codes.
• Intuitive Motor Control: Provides an intuitive Motor object representation for each physical motor, offering high-level functions for common operations like torque control, position/velocity setting, and LED control.
• Improved Type Safety: Ensures type safety for signed values read from the motor by explicitly returning appropriate signed integer types, preventing potential casting issues.

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[gemini-code-assist]

Code Review

This pull request introduces a new high-level, object-oriented C++ API for the Dynamixel SDK, which is a significant step towards improving developer experience. The design with Connector and Motor classes is intuitive, and the use of a Result type for error handling is a good modern C++ practice.

My review has identified a few areas for improvement. There is a critical bug in the motor discovery logic that can lead to an infinite loop. I've also pointed out a potential memory safety issue with a raw pointer in the Motor class, a hardcoded file path that impacts portability, and several instances of magic numbers that affect code maintainability. Addressing these points will make the new API more robust and easier to use.

[yun-goon]

You created a new feature! First, I'll just leave a few reviews.

[yun-goon]

I've checked that it works well!
Like it!

[Copilot]

Pull Request Overview

This pull request introduces a new high-level, object-oriented Dynamixel API for C++ on Linux 64-bit systems. The API provides motor-object-based control built upon the existing low-level packet-based communication, supporting Protocol 2.0 with automatic model and control table recognition.

• Implements a comprehensive object-oriented motor control system with Connector and Motor classes
• Adds automatic control table parsing and model recognition from configuration files
• Introduces a custom Result<T, E> type for robust error handling and type-safe error codes

Reviewed Changes

Copilot reviewed 90 out of 91 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
c++/include/dynamixel_sdk/dynamixel_api.hpp	Main API header file that includes all high-level API components
c++/include/dynamixel_sdk/dynamixel_api/*.hpp	Header files for Connector, Motor, ControlTable, and error handling classes
c++/src/dynamixel_sdk/dynamixel_api/*.cpp	Implementation files for the new API classes and functionality
control_table/*.model	Extensive set of motor model configuration files for automatic control table recognition
c++/build/linux64/Makefile	Updates build configuration to include API sources and control table installation
c++/example/dynamixel_api/basic_test.cpp	Comprehensive example demonstrating the new API usage

Comments suppressed due to low confidence (1)

control_table/xc330_t288_fw52.model:1

• Duplicate address mappings detected across multiple control table files. Lines 112-113 have the same addresses as lines 70-71, and lines 114-115 have the same addresses as lines 74-75. This pattern appears in many .model files and could indicate a data inconsistency or unnecessary duplication that may complicate maintenance.

[type info]

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[yun-goon]

As I said verbally, you even worked on the bump. Good!

[ola31]

It might be better to extract the 2.0 magic number to a named constant like PROTOCOL_VERSION

[ola31]

e.g. static constexpr float PROTOCOL_VERSION = 2.0f;

[GyuH13]

0a4f971
Thanks I reflect your review on it

[ola31]

@GyuH13 Great work! I left some minor comments.

[yun-goon]

Thank you for your hard work!
But there are a few things to revise.

[nhw-robotis]

Great work!

[yun-goon]

Good!

[sunghowoo]

This project that makes using Dynamixel easier will be a major milestone. From now on, beginners will be able to use Dynamixel actuators more easily, and it is a great contribution to the community.