Made the dynamixel_base and dynamixel manager libraries compatible with C and...

Made the dynamixel_base and dynamixel manager libraries compatible with C and C++ adding the extern "C" tag.

dynamixel_base/include/dynamixel.h

 #ifndef _DYNAMIXEL_H
 #define _DYNAMIXEL_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "dynamixel_common.h"
 
 #define     DYN_HEADER_OFF      0
@@ -223,4 +227,8 @@ inline unsigned char dyn_get_read_status_id(unsigned char *packet)
   return packet[DYN_ID_OFF];
 }
 
+#ifdef __cplusplus
+  }
+#endif
+
 #endif

dynamixel_base/include/dynamixel2.h

 #ifndef _DYNAMIXEL2_H
 #define _DYNAMIXEL2_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "dynamixel_common.h"
 
 #define     DYN2_HEADER_OFF      0
@@ -246,4 +250,8 @@ inline unsigned char dyn2_get_read_status_id(unsigned char *packet)
   return packet[DYN2_ID_OFF];
 }
 
+#ifdef __cplusplus
+  }
+#endif
+
 #endif

dynamixel_base/include/dynamixel_master.h

 #ifndef _DYNAMIXEL_MASTER_H
 #define _DYNAMIXEL_MASTER_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "comm.h"
 #include "dynamixel.h"
 #include "dynamixel2.h"
@@ -197,4 +201,8 @@ unsigned char dyn_master_bulk_write(TDynamixelMaster *master,unsigned char num,u
  */
 unsigned char dyn_master_relay(TDynamixelMaster *master,unsigned char *inst_pkt,unsigned char *status_pkt);
 
+#ifdef __cplusplus
+  }
+#endif
+
 #endif

dynamixel_base/include/dynamixel_slave.h

 #ifndef _DYNAMIXEL_SLAVE_H
 #define _DYNAMIXEL_SLAVE_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "comm.h"
 #include "dynamixel.h"
 #include "dynamixel2.h"
@@ -164,4 +168,8 @@ inline void dyn_slave_stop(TDynamixelSlave *slave)
   scheduler_disable_channel(slave->scheduler,slave->sch_channel);
 }
 
+#ifdef __cplusplus
+  }
+#endif
+
 #endif

dynamixel_base/include/dynamixel_slave_device.h

 #ifndef _DYNAMIXEL_SLAVE_DEVICE_H
 #define _DYNAMIXEL_SLAVE_DEVICE_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "dynamixel_slave_registers.h"
 #include "dynamixel.h"
 #include "dynamixel2.h"
@@ -203,4 +207,8 @@ inline TMemory *dyn_slave_device_get_memory(TDynamixelSlaveDevice *device)
   return &device->memory;
 }
 
+#ifdef __cplusplus
+  }
+#endif
+
 #endif

dynamixel_manager/include/dyn_manager.h

 #ifndef _DYN_MANAGER_H
 #define _DYN_MANAGER_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "dyn_manager_registers.h"
 #include "dynamixel_master.h"
 #include "memory.h"
@@ -157,4 +161,8 @@ void dyn_manager_bulk_op_change_length(TDynManager *manager,OP_HANDLE *op,unsign
 void dyn_manager_bulk_op_change_data(TDynManager *manager,OP_HANDLE *op,unsigned char num,unsigned char *ids,unsigned char * const data[]);
 void dyn_manager_loop(TDynManager *manager);
 
+#ifdef __cplusplus
+  }
+#endif
+
 #endif 

dynamixel_manager/include/dyn_module.h

 #ifndef _DYN_MODULE_H
 #define _DYN_MODULE_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #ifndef MODULE_MAX_NUM_MODELS
   #error "Please, specify the maximum number of dynamixel master modules with the MODULE_MAX_NUM_MODELS macro"
 #endif
@@ -38,4 +42,8 @@ unsigned char dyn_module_device_is_assigned(TDynModule *module,unsigned char id)
 void dyn_module_set_period(TDynModule *module,unsigned char period);
 inline unsigned char dyn_module_get_period(TDynModule *module);
 
+#ifdef __cplusplus
+  }
+#endif
+
 #endif

dynamixel_manager/include/modules/motion_manager.h

 #ifndef _MOTION_MANAGER_H
 #define _MOTION_MANAGER_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "dyn_module.h"
 
 #ifndef MM_MAX_NUM_MOTION_MODULES
@@ -64,4 +68,8 @@ unsigned char mmanager_is_servo_enabled(TMotionManager *mmanager,unsigned char s
 void mmanager_set_offset(TMotionManager *mmanager,unsigned char servo_id,char offset);
 void mmanager_add_module(TMotionManager *mmanager,struct TMotionModule *module);
 
+#ifdef __cplusplus
+  }
+#endif
+
 #endif

dynamixel_manager/include/modules/motion_module.h

 #ifndef _MOTION_MODULE_H
 #define _MOTION_MODULE_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "motion_manager.h"
 
 typedef struct TMotionModule{
@@ -15,4 +19,8 @@ typedef struct TMotionModule{
 
 void mmodule_init(TMotionModule *module);
 
+#ifdef __cplusplus
+  }
+#endif
+
 #endif