Add cstdlib library include because of error on Linux

ROBOTIS-GIT · Nov 1, 2024 · 6b94826 · 6b94826
1 parent e3bb2d4
commit 6b94826
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Showing 15 changed files with 78 additions and 53 deletions.
diff --git a/dynamixel_workbench_toolbox/examples/src/b_Ping.cpp b/dynamixel_workbench_toolbox/examples/src/b_Ping.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeeded to init(%d)\n", baud_rate);  
+    printf("Succeeded to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -67,4 +68,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/c_ID_Change.cpp b/dynamixel_workbench_toolbox/examples/src/c_ID_Change.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeeded to init(%d)\n", baud_rate);  
+    printf("Succeeded to init(%d)\n", baud_rate);
 
   uint16_t model_number = 0;
   result = dxl_wb.ping(dxl_id, &model_number, &log);
@@ -98,4 +99,4 @@ int main(int argc, char *argv[])
     for (int cnt = 0; cnt < dxl_cnt; cnt++)
       printf("id : %d, model name : %s\n", scanned_id[cnt], dxl_wb.getModelName(scanned_id[cnt]));
   }
-}
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/d_BPS_Change.cpp b/dynamixel_workbench_toolbox/examples/src/d_BPS_Change.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int dxl_id = 1;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeeded to init(%d)\n", baud_rate);  
+    printf("Succeeded to init(%d)\n", baud_rate);
 
   uint16_t model_number = 0;
   result = dxl_wb.ping(dxl_id, &model_number, &log);
@@ -81,4 +82,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/e_Mode_Change.cpp b/dynamixel_workbench_toolbox/examples/src/e_Mode_Change.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -53,7 +54,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeeded to init(%d)\n", baud_rate);  
+    printf("Succeeded to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)

diff --git a/dynamixel_workbench_toolbox/examples/src/f_Reboot.cpp b/dynamixel_workbench_toolbox/examples/src/f_Reboot.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -78,4 +79,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/g_Reset.cpp b/dynamixel_workbench_toolbox/examples/src/g_Reset.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -78,4 +79,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/h_Position.cpp b/dynamixel_workbench_toolbox/examples/src/h_Position.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -88,4 +89,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/i_Velocity.cpp b/dynamixel_workbench_toolbox/examples/src/i_Velocity.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -90,4 +91,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/j_Current_Based_Position.cpp b/dynamixel_workbench_toolbox/examples/src/j_Current_Based_Position.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -88,4 +89,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/k_Read_Write.cpp b/dynamixel_workbench_toolbox/examples/src/k_Read_Write.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -90,4 +91,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/l_Sync_Write.cpp b/dynamixel_workbench_toolbox/examples/src/l_Sync_Write.cpp
@@ -17,10 +17,11 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
 void swap(int32_t *array);
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -55,7 +56,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   for (int cnt = 0; cnt < 2; cnt++)
   {
@@ -93,7 +94,7 @@ int main(int argc, char *argv[])
   int32_t goal_position[2] = {0, 1023};
 
   const uint8_t handler_index = 0;
-  
+
   while(1)
   {
     result = dxl_wb.syncWrite(handler_index, &goal_position[0], &log);
@@ -116,4 +117,4 @@ void swap(int32_t *array)
   int32_t tmp = array[0];
   array[0] = array[1];
   array[1] = tmp;
-}
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/m_Sync_Read_Write.cpp b/dynamixel_workbench_toolbox/examples/src/m_Sync_Read_Write.cpp
@@ -17,10 +17,11 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
 void swap(int32_t *array);
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -55,7 +56,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   for (int cnt = 0; cnt < 2; cnt++)
   {
@@ -69,6 +70,7 @@ int main(int argc, char *argv[])
     {
       printf("Succeeded to ping\n");
       printf("id : %d, model_number : %d\n", dxl_id[cnt], model_number);
+      printf("model_name : %s\n", dxl_wb.getModelName(dxl_id[cnt]));
     }
 
     result = dxl_wb.jointMode(dxl_id[cnt], 0, 0, &log);
@@ -101,7 +103,10 @@ int main(int argc, char *argv[])
   int32_t present_position[2] = {0, 0};
 
   const uint8_t handler_index = 0;
-
+
+  const char* modelName1 = dxl_wb.getModelName(dxl_id[0]);
+  const char* modelName2 = dxl_wb.getModelName(dxl_id[1]);
+
   while(1)
   {
     result = dxl_wb.syncWrite(handler_index, &goal_position[0], &log);
@@ -124,14 +129,20 @@ int main(int argc, char *argv[])
       if (result == false)
       {
         printf("%s\n", log);
+        if(!strncmp(modelName1, "AX-12", strlen("AX-12")) ||
+         !strncmp(modelName2, "AX-12", strlen("AX-12")))
+        {
+          printf("AX-12 does NOT support syncRead \n");
+          return -1;
+        }
       }
       else
       {
         printf("[ID %d]\tGoal Position : %d\tPresent Position : %d, [ID %d]\tGoal Position : %d\tPresent Position : %d\n"
                 ,dxl_id[0], goal_position[0], present_position[0], dxl_id[1], goal_position[1], present_position[1]);
       }
 
-    }while(abs(goal_position[0] - present_position[0]) > 15 && 
+    }while(abs(goal_position[0] - present_position[0]) > 15 &&
           abs(goal_position[1] - present_position[1]) > 15);
 
     swap(goal_position);
@@ -145,4 +156,4 @@ void swap(int32_t *array)
   int32_t tmp = array[0];
   array[0] = array[1];
   array[1] = tmp;
-}
+}