Solved a problem with the checksum error check.

src/dynamixel.cpp

@@ -112,6 +112,7 @@ void CDynamixel::read_byte_register(unsigned char address,unsigned char *value)
 
   if(this->usb_dev!=NULL)
   {
+    events.push_back(this->usb_rx_event_id); 
     while(!rx_tx_ok)
     {
       this->usb_access->enter();
@@ -128,7 +129,6 @@ void CDynamixel::read_byte_register(unsigned char address,unsigned char *value)
       }
       else
       {
-        events.push_back(this->usb_rx_event_id); 
         try{
           while(read<7)
           {
@@ -147,6 +147,8 @@ void CDynamixel::read_byte_register(unsigned char address,unsigned char *value)
             it++;
             if(it==NUM_RETRIES)
               throw CDynamixelSyncException("Invalid packet checksum");
+            else
+              read=0;
           }
           else 
           { 
@@ -198,6 +200,7 @@ void CDynamixel::read_word_register(unsigned char address,unsigned short int *va
 
   if(this->usb_dev!=NULL)
   {
+    events.push_back(this->usb_rx_event_id); 
     while(!rx_tx_ok)
     {
       this->usb_access->enter();
@@ -214,7 +217,6 @@ void CDynamixel::read_word_register(unsigned char address,unsigned short int *va
       }
       else
       {
-        events.push_back(this->usb_rx_event_id); 
         try{
           while(read<8)
           {
@@ -233,6 +235,8 @@ void CDynamixel::read_word_register(unsigned char address,unsigned short int *va
             it++;
             if(it==NUM_RETRIES)
               throw CDynamixelSyncException("Invalid packet checksum");
+            else
+              read=0;
           }
           else
           {
@@ -284,6 +288,7 @@ void CDynamixel::write_byte_register(unsigned char address, unsigned char data)
 
   if(this->usb_dev!=NULL)
   {
+    events.push_back(this->usb_rx_event_id); 
     while(!rx_tx_ok)
     {
       this->usb_access->enter();
@@ -300,7 +305,6 @@ void CDynamixel::write_byte_register(unsigned char address, unsigned char data)
       }
       else
       {  
-        events.push_back(this->usb_rx_event_id); 
         try{
           while(read<6)
           {
@@ -319,6 +323,8 @@ void CDynamixel::write_byte_register(unsigned char address, unsigned char data)
             it++;
             if(it==NUM_RETRIES)
               throw CDynamixelSyncException("Invalid packet checksum");
+            else
+              read=0;
           }
           else
           {
@@ -369,6 +375,7 @@ void CDynamixel::write_word_register(unsigned char address, unsigned short int d
 
   if(this->usb_dev!=NULL)
   {
+    events.push_back(this->usb_rx_event_id); 
     while(!rx_tx_ok)
     {
       this->usb_access->enter();
@@ -386,7 +393,6 @@ void CDynamixel::write_word_register(unsigned char address, unsigned short int d
       }  
       else
       {  
-        events.push_back(this->usb_rx_event_id); 
         try{
           while(read<6)
           {
@@ -405,6 +411,8 @@ void CDynamixel::write_word_register(unsigned char address, unsigned short int d
             it++;
             if(it==NUM_RETRIES)
               throw CDynamixelSyncException("Invalid packet checksum");
+            else
+              read=0;
           }
           else
           {
@@ -455,6 +463,7 @@ void CDynamixel::registered_byte_write(unsigned char address, unsigned char data
 
   if(this->usb_dev!=NULL)
   {
+    events.push_back(this->usb_rx_event_id); 
     while(!rx_tx_ok)
     {
       this->usb_access->enter();
@@ -471,7 +480,6 @@ void CDynamixel::registered_byte_write(unsigned char address, unsigned char data
       }  
       else
       { 
-        events.push_back(this->usb_rx_event_id); 
         try{
           while(read<6)
           {
@@ -490,6 +498,8 @@ void CDynamixel::registered_byte_write(unsigned char address, unsigned char data
             it++;
             if(it==NUM_RETRIES)
               throw CDynamixelSyncException("Invalid packet checksum");
+            else
+              read=0;
           }
           else
           {
@@ -540,6 +550,7 @@ void CDynamixel::registered_word_write(unsigned char address, unsigned short int
 
   if(this->usb_dev!=NULL)
   {
+    events.push_back(this->usb_rx_event_id); 
     while(!rx_tx_ok)
     {
       this->usb_access->enter();
@@ -557,7 +568,6 @@ void CDynamixel::registered_word_write(unsigned char address, unsigned short int
       }
       else
       {
-        events.push_back(this->usb_rx_event_id); 
         try{
           while(read<6)
           {
@@ -576,6 +586,8 @@ void CDynamixel::registered_word_write(unsigned char address, unsigned short int
             it++;
             if(it==NUM_RETRIES)
               throw CDynamixelSyncException("Invalid packet checksum");
+            else
+              read=0;
           }
           else
           {