Updated the slave interface to version 2.

src/bioloid_robot.cpp

@@ -5,22 +5,15 @@
 CBioloidRobot::CBioloidRobot(const std::string &name,std::string &serial_dev,int baudrate, unsigned char id,gpio_ports port, int pin) : ext_int(port,pin)
 {
   this->robot_device=NULL;
-  this->serial_device=NULL;
   if(name!="")
   {
     this->robot_name=name;
-    this->dyn_server=CDynamixelServer::instance();
+    this->dyn_server=CDynamixelServerSerial::instance();
     try{
       /* open and configure the serial port */
-      this->serial_device=new CRS232(this->robot_name+"_serial_port");
-      this->serial_device->open((void *)&serial_dev);
-      this->serial_config.baud=baudrate;
-      this->serial_config.num_bits=8;
-      this->serial_config.parity=none;
-      this->serial_config.stop_bits=1;
-      this->serial_device->config(&this->serial_config);
-      this->dyn_server->config_comm(this->serial_device);
-      this->robot_device=dyn_server->get_device(id);
+      this->serial_device=serial_dev;
+      this->dyn_server->config_bus(this->serial_device,baudrate);
+      this->robot_device=dyn_server->get_device(id,dyn_version2);
       this->robot_id=id;
       /* configure the gpio pin for the external interrupt */
       this->ext_int.set_direction(input);
@@ -56,11 +49,6 @@ CBioloidRobot::CBioloidRobot(const std::string &name,std::string &serial_dev,int
     }catch(CException &e){
       if(this->robot_device!=NULL)
         this->dyn_server->free_device(id);
-      if(this->serial_device!=NULL)
-      {
-        delete this->serial_device;
-        this->serial_device=NULL;
-      }
       /* handle exceptions */
       throw;
     }
@@ -843,11 +831,6 @@ CBioloidRobot::~CBioloidRobot()
   this->event_server->delete_event(this->finish_thread_event_id);
   this->finish_thread_event_id="";
 
-  if(this->serial_device!=NULL)
-  {
-    delete this->serial_device;
-    this->serial_device=NULL;
-  }
   if(this->robot_device!=NULL)
     this->dyn_server->free_device(this->robot_id);
 }

src/bioloid_robot.h

 #ifndef _BIOLOID_ROBOT_H
 #define _BIOLOID_ROBOT_H
 
-#include "dynamixelserver.h"
+#include "dynamixelserver_serial.h"
 #include "dynamixel.h"
 #include "rs232.h"
 #include "bbb_gpio.h"
@@ -25,12 +25,10 @@ class CBioloidRobot
 {
   private:
     /* dynamixel interface */
-    CDynamixelServer *dyn_server;  
+    CDynamixelServerSerial *dyn_server;  
     CDynamixel *robot_device;
+    std::string serial_device;
     unsigned char robot_id;
-    /* communication interface */
-    CRS232 *serial_device;
-    TRS232_config serial_config;
     /* external interrupt GPIO pin */
     CGPIO ext_int;
     std::string ext_int_event_id;

src/examples/bioloid_robot_test.cpp

@@ -190,14 +190,17 @@ int main(int argc, char *argv[])
       std::cout << " and assigned to module " << tina.mm_get_module(i) << std::endl; 
     }
     tina.mm_start();
-    tina.mm_enable_balance();
+    //tina.mm_enable_balance();
     tina.mm_enable_power();
     tina.action_load_page(WALK_READY);
     tina.action_start();
     while(tina.action_is_page_running())
       usleep(100000);    
     sleep(2);
-    tina.action_load_page(LT_S_L);
+    tina.mm_disable_power();
+    tina.mm_stop();
+    return 0;
+    tina.action_load_page(RT_S_R);
     tina.action_start();
     for(i=0;i<100;i++)
     {