diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 95f8ba91984e0b15d0aab74a43850b534d9bc116..eccdafd3002e6aec31ba8859eed35cf2c60c9032 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -3,7 +3,7 @@ ADD_SUBDIRECTORY(xml)
# edit the following line to add all the source code files of the library
SET(sources dynamixel.cpp dynamixelserver.cpp dynamixelserver_ftdi.cpp dynamixelserver_serial.cpp dynamixelexceptions.cpp dynamixel_slave.cpp dynamixel_slave_ftdi.cpp dynamixel_slave_serial.cpp)
# edit the following line to add all the header files of the library
-SET(headers dynamixel.h dynamixelserver.h dynamixelserver_ftdi.h dynamixelserver_serial.h dynamixelexceptions.h dynamixel_common.h dynamixel_slave.h dynamixel_slave_ftdi.h dynamixel_slave_serial.h)
+SET(headers dynamixel.h dynamixelserver.h dynamixelserver_ftdi.h dynamixelserver_serial.h dynamixelexceptions.h dynamixel_common.h dynamixel_slave.h dynamixel_slave_ftdi.h dynamixel_slave_serial.h)
INCLUDE_DIRECTORIES(.)
diff --git a/src/dynamixel.h b/src/dynamixel.h
index 96c545cae70ec860f23f7876bdacc7ae4d4242c9..2ab05597c3592d53ce6e44ca6a87a5d0528b0111 100644
--- a/src/dynamixel.h
+++ b/src/dynamixel.h
@@ -24,87 +24,87 @@ class CDynamixel
private:
friend class CDynamixelServer;
/**
- * \brief
- *
+ * \brief
+ *
*/
- CDynamixelServer *dyn_server;
+ unsigned char id_register;
/**
- * \brief Handle to the communications device
+ * \brief
*
- */
- CComm *comm_dev;
+ */
+ unsigned char baudrate_register;
/**
- * \brief
- *
+ * \brief
+ *
*/
- unsigned char node_address;
+ void set_baudrate(int baudrate);
/**
- * \brief mutual exclusion mechanism to access the usb
+ * \brief
*
*/
- CMutex *usb_access;
+ void sync_packet_v1(unsigned char *data,unsigned int length,int *start);
/**
- * \brief Handle to the unique event server
+ * \brief
*
*/
- CEventServer *event_server;
+ void sync_packet_v2(unsigned char *data,unsigned int length,int *start);
+
+ protected:
/**
* \brief data reception event
*
*/
std::string usb_rx_event_id;
/**
- * \brief
+ * \brief
*
*/
- unsigned char id_register;
+ dyn_version_t version;
/**
- * \brief
- *
+ * \brief
+ *
*/
- unsigned char baudrate_register;
+ CDynamixelServer *dyn_server;
/**
- * \brief
- *
+ * \brief
+ *
*/
- void set_baudrate(int baudrate);
+ unsigned char node_address;
/**
- * \brief
+ * \brief Handle to the unique event server
*
*/
- void sync_packet_v1(unsigned char *data,unsigned int length,int *start);
+ CEventServer *event_server;
/**
- * \brief
+ * \brief Handle to the communications device
*
- */
- void sync_packet_v2(unsigned char *data,unsigned int length,int *start);
+ */
+ CComm *comm_dev;
/**
- * \brief
+ * \brief mutual exclusion mechanism to access the usb
*
*/
- dyn_version_t version;
-
- protected:
+ CMutex *usb_access;
/**
* \brief
*
*/
- void send_instruction_packet_v1(dyn_inst_t inst,unsigned char *data=NULL,unsigned char len=0);
+ virtual void send_instruction_packet_v1(dyn_inst_t inst,unsigned char *data=NULL,unsigned char len=0);
/**
* \brief
*
*/
- void send_instruction_packet_v2(dyn_inst_t inst,unsigned char *data=NULL,unsigned short int len=0);
+ virtual void send_instruction_packet_v2(dyn_inst_t inst,unsigned char *data=NULL,unsigned short int len=0);
/**
* \brief
*
*/
- unsigned char receive_status_packet_v1(unsigned char **data,unsigned char *len);
+ virtual unsigned char receive_status_packet_v1(unsigned char **data,unsigned char *len);
/**
* \brief
*
*/
- unsigned char receive_status_packet_v2(unsigned char **data,unsigned short int *len);
+ virtual unsigned char receive_status_packet_v2(unsigned char **data,unsigned short int *len);
/**
* \brief
*
diff --git a/src/dynamixelserver.cpp b/src/dynamixelserver.cpp
index 37c91fcd3e430215b3f94bb56f52d7b06673f42e..1528875a3071f4d430ae9e29f2454c5bdbcbed39 100644
--- a/src/dynamixelserver.cpp
+++ b/src/dynamixelserver.cpp
@@ -1347,3 +1347,6 @@ void CDynamixelServer::read_bulk(std::vector<unsigned char>& servo_ids,std::vect
}
}
+CDynamixelServer::~CDynamixelServer()
+{
+}
diff --git a/src/dynamixelserver.h b/src/dynamixelserver.h
index 9c5559abda51b86b4510f97ca63b7f6ab4f28657..160c164ff0276d4f8b5c0c6ef417e832051862bf 100644
--- a/src/dynamixelserver.h
+++ b/src/dynamixelserver.h
@@ -50,11 +50,6 @@ const int frequencies[9]={1000000,500000,400000,250000,200000,115200,57600,19200
class CDynamixelServer
{
private:
- /**
- * \brief
- *
- */
- CEventServer *event_server;
/**
* \brief
*
@@ -99,33 +94,38 @@ class CDynamixelServer
* \brief
*
*/
- void send_instruction_packet_v1(dyn_inst_t inst,unsigned char *data=NULL,unsigned char len=0,unsigned char id=0xFE);
+ virtual void send_instruction_packet_v1(dyn_inst_t inst,unsigned char *data=NULL,unsigned char len=0,unsigned char id=0xFE);
/**
* \brief
*
*/
- void send_instruction_packet_v2(dyn_inst_t inst,unsigned char *data=NULL,unsigned short int len=0,unsigned char id=0xFE);
+ virtual void send_instruction_packet_v2(dyn_inst_t inst,unsigned char *data=NULL,unsigned short int len=0,unsigned char id=0xFE);
/**
* \brief
*
*/
- unsigned char receive_status_packet_v1(unsigned char **data,unsigned char *len);
+ virtual unsigned char receive_status_packet_v1(unsigned char **data,unsigned char *len);
/**
* \brief
*
*/
- unsigned char receive_status_packet_v2(unsigned char **data,unsigned short int *len);
+ virtual unsigned char receive_status_packet_v2(unsigned char **data,unsigned short int *len);
/**
* \brief
*
*/
- void sync_packet_v1(unsigned char *data,unsigned int length,int *start);
+ virtual void sync_packet_v1(unsigned char *data,unsigned int length,int *start);
/**
* \brief
*
*/
- void sync_packet_v2(unsigned char *data,unsigned int length,int *start);
+ virtual void sync_packet_v2(unsigned char *data,unsigned int length,int *start);
protected:
+ /**
+ * \brief
+ *
+ */
+ CEventServer *event_server;
/**
* \brief
*
@@ -243,7 +243,7 @@ class CDynamixelServer
* \brief
*
*/
- CDynamixel *get_device(int dev_id,dyn_version_t version=dyn_version1);
+ virtual CDynamixel *get_device(int dev_id,dyn_version_t version=dyn_version1);
/**
* \brief
*
@@ -284,6 +284,7 @@ class CDynamixelServer
*
*/
void read_bulk(std::vector<unsigned char>& servo_ids,std::vector<unsigned short int> &start_addr,std::vector<unsigned short int> &length, std::vector< std::vector<unsigned char> >& data,dyn_version_t version=dyn_version2);
+ virtual ~CDynamixelServer();
};
#endif