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         = 3.9.0
 
 # 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
 
+3.9.0 (2025-09-09)
+------------------
+* Update Dynamixel API 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 +62,10 @@ 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_sdk/dynamixel_api/connector.cpp \
+           src/dynamixel_sdk/dynamixel_api/control_table.cpp \
+           src/dynamixel_sdk/dynamixel_api/motor.cpp \
+           src/dynamixel_sdk/dynamixel_api/dynamixel_error.cpp
 
 
 OBJECTS=$(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
@@ -89,6 +95,10 @@ 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
 
+    # 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 +109,7 @@ uninstall:
 
 	$(RM) $(INSTALL_ROOT)/include/dynamixel_sdk/dynamixel_sdk.h
 	$(RM_ALL) $(INSTALL_ROOT)/include/dynamixel_sdk/*
+	$(RM_ALL) $(INSTALL_ROOT)/share/dynamixel_sdk/control_table
 
 reinstall: uninstall install
 
@@ -119,6 +130,9 @@ $(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_sdk/dynamixel_api/%.cpp
+	$(CX) $(CXFLAGS) -c $? -o $@
+
 #---------------------------------------------------------------------
 # END OF MAKEFILE
 #---------------------------------------------------------------------