Dynamixel Easy SDK update in cpp linux 64bit

.github/workflows/ros-ci.yml

@@ -4,9 +4,9 @@ name: CI
 # Specifies the events that trigger the workflow
 on:
   push:
-    branches: [ main, humble ]
+    branches: [ main, humble, jazzy ]
   pull_request:
-    branches: [ main, humble ]
+    branches: [ main, humble, jazzy ]
 
 # Defines a set of jobs to be run as part of the workflow
 jobs:

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         = 3.8.4
+PROJECT_NUMBER         = 4.0.0
 
 # 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

ReleaseNote.md

@@ -1,5 +1,10 @@
 # Dynamixel SDK Release Notes
 
+4.0.0 (2025-10-14)
+------------------
+* Update Dynamixel Easy SDK in C++ Linux 64bit
+* Contributors: Hyungyu Kim
+
 3.8.4 (2025-05-28)
 ------------------
 * Deprecate ament_include_dependency usage in CMakeLists.txt

c++/build/linux64/Makefile

@@ -35,10 +35,12 @@ SYMLINK     = ln -s
 MKDIR       = mkdir
 CC          = gcc
 CX          = g++
-CCFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) $(FORMAT) -fPIC -g
-CXFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) $(FORMAT) -fPIC -g
+CONTROL_TABLE_PATH_FLAG = -DCONTROL_TABLE_PATH=\"$(INSTALL_ROOT)/share/dynamixel_sdk/control_table\"
+CCFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) $(FORMAT) -fPIC -g $(CONTROL_TABLE_PATH_FLAG)
+CXFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) $(FORMAT) -fPIC -g $(CONTROL_TABLE_PATH_FLAG)
 FORMAT     = -m64
 INCLUDES    += -I$(DIR_DXL)/include/dynamixel_sdk
+INCLUDES    += -I$(DIR_DXL)/include
 
 #---------------------------------------------------------------------
 # Required external libraries
@@ -60,6 +62,11 @@ SOURCES  = src/dynamixel_sdk/group_bulk_read.cpp \
            src/dynamixel_sdk/protocol1_packet_handler.cpp \
            src/dynamixel_sdk/protocol2_packet_handler.cpp \
            src/dynamixel_sdk/port_handler_linux.cpp \
+           src/dynamixel_easy_sdk/connector.cpp \
+           src/dynamixel_easy_sdk/control_table.cpp \
+           src/dynamixel_easy_sdk/motor.cpp \
+           src/dynamixel_easy_sdk/dynamixel_error.cpp \
+           src/dynamixel_easy_sdk/group_executor.cpp
 
 
 OBJECTS=$(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
@@ -89,6 +96,13 @@ install: $(TARGET)
 	@$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/include/dynamixel_sdk || $(MKDIR) $(INSTALL_ROOT)/include/dynamixel_sdk
 	$(CP_ALL) $(DIR_DXL)/include/dynamixel_sdk/* $(INSTALL_ROOT)/include/dynamixel_sdk
 
+	@$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/include/dynamixel_easy_sdk || $(MKDIR) $(INSTALL_ROOT)/include/dynamixel_easy_sdk
+	$(CP_ALL) $(DIR_DXL)/include/dynamixel_easy_sdk/* $(INSTALL_ROOT)/include/dynamixel_easy_sdk
+
+    # copy the control_table directory into the share directory
+	@$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/share/dynamixel_sdk || $(MKDIR) -p $(INSTALL_ROOT)/share/dynamixel_sdk
+	$(CP_ALL) $(DIR_DXL)/../control_table $(INSTALL_ROOT)/share/dynamixel_sdk/
+
 	$(LD_CONFIG)
 
 uninstall:
@@ -99,6 +113,8 @@ uninstall:
 
 	$(RM) $(INSTALL_ROOT)/include/dynamixel_sdk/dynamixel_sdk.h
 	$(RM_ALL) $(INSTALL_ROOT)/include/dynamixel_sdk/*
+	$(RM_ALL) $(INSTALL_ROOT)/include/dynamixel_easy_sdk/*
+	$(RM_ALL) $(INSTALL_ROOT)/share/dynamixel_sdk/control_table
 
 reinstall: uninstall install
 
@@ -119,6 +135,9 @@ $(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_sdk/%.c
 $(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_sdk/%.cpp
 	$(CX) $(CXFLAGS) -c $? -o $@
 
+$(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_easy_sdk/%.cpp
+	$(CX) $(CXFLAGS) -c $? -o $@
+
 #---------------------------------------------------------------------
 # END OF MAKEFILE
 #---------------------------------------------------------------------

c++/include/dynamixel_easy_sdk/connector.hpp

@@ -0,0 +1,62 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONNECTOR_HPP_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONNECTOR_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "dynamixel_sdk/dynamixel_sdk.h"
+#include "dynamixel_easy_sdk/dynamixel_error.hpp"
+#include "dynamixel_easy_sdk/motor.hpp"
+#include "dynamixel_easy_sdk/group_executor.hpp"
+
+namespace dynamixel
+{
+class Connector
+{
+public:
+  Connector(const std::string & port_name, int baud_rate);
+
+  virtual ~Connector();
+
+  std::unique_ptr<Motor> createMotor(uint8_t id);
+  std::vector<std::unique_ptr<Motor>> createAllMotors(int start_id = 0, int end_id = 252);
+  std::unique_ptr<GroupExecutor> createGroupExecutor();
+
+  Result<void, DxlError> write1ByteData(uint8_t id, uint16_t address, uint8_t value);
+  Result<void, DxlError> write2ByteData(uint8_t id, uint16_t address, uint16_t value);
+  Result<void, DxlError> write4ByteData(uint8_t id, uint16_t address, uint32_t value);
+
+  Result<uint8_t, DxlError> read1ByteData(uint8_t id, uint16_t address);
+  Result<uint16_t, DxlError> read2ByteData(uint8_t id, uint16_t address);
+  Result<uint32_t, DxlError> read4ByteData(uint8_t id, uint16_t address);
+
+  Result<void, DxlError> reboot(uint8_t id);
+  Result<uint16_t, DxlError> ping(uint8_t id);
+  Result<void, DxlError> factoryReset(uint8_t id, uint8_t option);
+
+  PortHandler * getPortHandler() const {return port_handler_.get();}
+  PacketHandler * getPacketHandler() const {return packet_handler_;}
+
+private:
+  std::unique_ptr<PortHandler> port_handler_;
+  PacketHandler * packet_handler_;
+};
+}  // namespace dynamixel
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONNECTOR_HPP_ */

c++/include/dynamixel_easy_sdk/control_table.hpp

@@ -0,0 +1,45 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONTROL_TABLE_HPP_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONTROL_TABLE_HPP_
+
+#include <cstdint>
+#include <fstream>
+#include <iostream>
+#include <map>
+#include <sstream>
+#include <string>
+
+#include "dynamixel_easy_sdk/dynamixel_error.hpp"
+
+namespace dynamixel
+{
+struct ControlTableItem
+{
+  uint16_t address;
+  uint8_t size;
+};
+
+class ControlTable
+{
+public:
+  static const std::map<uint16_t, std::string> ParsingModelList();
+  static const std::string getModelName(uint16_t model_number);
+  static const std::map<std::string, ControlTableItem> & getControlTable(uint16_t model_number);
+};
+}  // namespace dynamixel
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONTROL_TABLE_HPP_ */

c++/include/dynamixel_easy_sdk/dynamixel_easy_sdk.hpp

@@ -0,0 +1,26 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_DYNAMIXEL_EASY_SDK_HPP_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_DYNAMIXEL_EASY_SDK_HPP_
+
+
+#include "dynamixel_easy_sdk/connector.hpp"
+#include "dynamixel_easy_sdk/dynamixel_error.hpp"
+#include "dynamixel_easy_sdk/motor.hpp"
+#include "dynamixel_easy_sdk/group_executor.hpp"
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_DYNAMIXEL_EASY_SDK_HPP_ */

c++/include/dynamixel_easy_sdk/dynamixel_error.hpp

@@ -0,0 +1,145 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_DYNAMIXEL_ERROR_HPP_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_DYNAMIXEL_ERROR_HPP_
+
+#include <variant>
+#include <stdexcept>
+#include <string>
+
+namespace dynamixel
+{
+enum class DxlError
+{
+  SDK_COMM_SUCCESS = 0,             // tx or rx packet communication success
+  SDK_COMM_PORT_BUSY = -1000,       // Port is busy (in use)
+  SDK_COMM_TX_FAIL = -1001,         // Failed transmit instruction packet
+  SDK_COMM_RX_FAIL = -1002,         // Failed get status packet
+  SDK_COMM_TX_ERROR = -2000,        // Incorrect instruction packet
+  SDK_COMM_RX_WAITING = -3000,      // Now receiving status packet
+  SDK_COMM_RX_TIMEOUT = -3001,      // There is no status packet
+  SDK_COMM_RX_CORRUPT = -3002,      // Incorrect status packet
+  SDK_COMM_NOT_AVAILABLE = -9000,
+  SDK_ERRNUM_RESULT_FAIL = 1,       // Failed to process the instruction packet.
+  SDK_ERRNUM_INSTRUCTION = 2,       // Instruction error
+  SDK_ERRNUM_CRC = 3,               // CRC check error
+  SDK_ERRNUM_DATA_RANGE = 4,        // Data range error
+  SDK_ERRNUM_DATA_LENGTH = 5,       // Data length error
+  SDK_ERRNUM_DATA_LIMIT = 6,        // Data limit error
+  SDK_ERRNUM_ACCESS = 7,            // Access error
+  EASY_SDK_FUNCTION_NOT_SUPPORTED = 11,  // API does not support this function
+  EASY_SDK_MOTOR_TORQUE_OFF = 12,        // Motor torque is off
+  EASY_SDK_OPERATING_MODE_MISMATCH = 13, // Operating mode is not appropriate for this function
+  EASY_SDK_ADD_PARAM_FAIL = 21,          // Failed to add parameter
+  EASY_SDK_COMMAND_IS_EMPTY = 22,        // No command to execute
+  EASY_SDK_DUPLICATE_ID = 23,            // Duplicate ID in staged commands
+  EASY_SDK_FAIL_TO_GET_DATA = 24         // Failed to get data from motor
+};
+
+template<typename T, typename E>
+class Result
+{
+private:
+  std::variant<T, E> result;
+
+public:
+  Result() = default;
+  Result(const T & return_value)
+  : result(return_value)
+  {}
+
+  Result(const E & error)
+  : result(error)
+  {}
+
+  bool isSuccess() const
+  {
+    return std::holds_alternative<T>(result);
+  }
+
+  T & value()
+  {
+    if (!isSuccess()) {throw std::logic_error("Result has no value.");}
+    return std::get<T>(result);
+  }
+  const T & value() const
+  {
+    if (!isSuccess()) {throw std::logic_error("Result has no value.");}
+    return std::get<T>(result);
+  }
+
+  E & error()
+  {
+    if (isSuccess()) {throw std::logic_error("Result has no error.");}
+    return std::get<E>(result);
+  }
+
+  const E & error() const
+  {
+    if (isSuccess()) {throw std::logic_error("Result has no error.");}
+    return std::get<E>(result);
+  }
+};
+
+template<typename E>
+class Result<void, E>
+{
+private:
+  std::variant<std::monostate, E> result;
+
+public:
+  Result()
+  : result(std::monostate{})
+  {}
+
+  Result(const E & error)
+  : result(error)
+  {}
+
+  bool isSuccess() const
+  {
+    return std::holds_alternative<std::monostate>(result);
+  }
+
+  E & error()
+  {
+    if (!std::holds_alternative<E>(result)) {
+      throw std::logic_error("Result has no error.");
+    }
+    return std::get<E>(result);
+  }
+
+  const E & error() const
+  {
+    if (!std::holds_alternative<E>(result)) {
+      throw std::logic_error("Result has no error.");
+    }
+    return std::get<E>(result);
+  }
+};
+
+class DxlRuntimeError : public std::runtime_error
+{
+public:
+  explicit DxlRuntimeError(const std::string & message)
+  : std::runtime_error(message) {}
+};
+
+std::string getErrorMessage(DxlError error_code);
+}  // namespace dynamixel
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_DYNAMIXEL_ERROR_HPP_ */