Moved the new packet buffer to the slave data structure to avoid errors when...

Moved the new packet buffer to the slave data structure to avoid errors when the packet is not fully received in a cycle.

dynamixel_base/include/dynamixel_slave.h

@@ -65,6 +65,11 @@ typedef struct TDynamixelSlave
    *
    */
   unsigned char rx_buffer[MAX_DYN_SLAVE_RX_BUFFER_LEN];
+  /**
+   * \brief
+   *
+   */
+  unsigned char current_packet[MAX_DYN_SLAVE_RX_BUFFER_LEN];
   /**
    * \brief
    *

dynamixel_base/src/dynamixel_slave.c

@@ -224,20 +224,20 @@ unsigned char dyn_slave_get_next_packet(TDynamixelSlave *slave,unsigned char *pa
 
 void dyn_slave_loop(TDynamixelSlave *slave)
 {
-  unsigned char send_status=0xFF,error,data_in[MAX_DYN_SLAVE_RX_BUFFER_LEN],data_out[MAX_DYN_SLAVE_RX_BUFFER_LEN];
+  unsigned char send_status=0xFF,error,data_out[MAX_DYN_SLAVE_RX_BUFFER_LEN]={0};
   unsigned short int length,i;
 
   if(slave!=0x00000000)
   {
-    while(dyn_slave_get_next_packet(slave,data_in))
+    while(dyn_slave_get_next_packet(slave,slave->current_packet))
     {
       // check address
       for(i=0;i<slave->num_slave_devices;i++)
       {
         if(slave->version==DYN_VER1)
-          send_status=dyn_v1_slave_loop(slave->slave_devices[i],data_in,&error,(unsigned char *)&length,data_out);
+          send_status=dyn_v1_slave_loop(slave->slave_devices[i],slave->current_packet,&error,(unsigned char *)&length,data_out);
         else
-          send_status=dyn_v2_slave_loop(slave->slave_devices[i],data_in,&error,&length,data_out);
+          send_status=dyn_v2_slave_loop(slave->slave_devices[i],slave->current_packet,&error,&length,data_out);
         if(send_status==0x01)
           dyn_slave_send_status_packet(slave,slave->slave_devices[i]->address,error,length,data_out,slave->slave_devices[i]->return_delay);
       }