Added an example for the bulk read feature.

src/examples/CMakeLists.txt

@@ -15,3 +15,9 @@ ADD_EXECUTABLE(test_dynamixel_sync test_dynamixel_sync.cpp)
 
 # edit the following line to add the necessary libraries
 TARGET_LINK_LIBRARIES(test_dynamixel_sync dynamixel)
+
+# edit the following line to add the source code for the example and the name of the executable
+ADD_EXECUTABLE(test_dynamixel_bulk_read test_dynamixel_bulk_read.cpp)
+
+# edit the following line to add the necessary libraries
+TARGET_LINK_LIBRARIES(test_dynamixel_bulk_read dynamixel)

src/examples/test_dynamixel_bulk_read.cpp

+#include "eventexceptions.h"
+#include "dynamixelserver.h"
+#include "dynamixel.h"
+#include <iostream>
+
+int main(int argc, char *argv[])
+{
+  CDynamixelServer *dyn_server=CDynamixelServer::instance();
+  CEventServer *event_server=CEventServer::instance();
+  int i,j,num_servos;
+  std::vector<int> devices;
+  std::list<std::string> events;
+  unsigned char start_addrs=0x00;
+  unsigned char data[49]; 
+  CDynamixel *device;
+  
+  try{
+    if(dyn_server->get_num_buses()>0)
+    {
+    
+      events.push_back(dyn_server->get_scan_done_event_id());
+      dyn_server->config_bus(0,1000000);
+      dyn_server->start_scan();
+      event_server->wait_first(events);
+      devices=dyn_server->get_device_ids();
+      num_servos=devices.size();
+      for(i=0;i<num_servos;i++)
+      {
+        device=dyn_server->get_device(devices[i]);
+        device->read_registers(start_addrs,data,49);
+        std::cout << "Servo " << std::dec <<  devices[i] << " registers:" << std::endl;
+        for(j=0;j<49;j++)
+          std::cout << "Register 0x" << std::hex << j << ": 0x" << (int)data[j] << std::endl;
+        data[0]=0x00;
+        data[1]=0x00;
+        data[2]=0xFF;
+        data[3]=0x03;
+        device->write_registers(0x06,data,4);
+        device->read_registers(start_addrs,data,49);
+        std::cout << "Servo " << std::dec <<  devices[i] << " registers:" << std::endl;
+        for(j=0;j<49;j++)
+          std::cout << "Register 0x" << std::hex << j << ": 0x" << (int)data[j] << std::endl;
+        dyn_server->free_device(devices[i]);
+      }  
+   }  
+  }catch(CException &e){
+    std::cout << e.what() << std::endl;
+  }	
+}
+ 
+ 
+ 
+ 
+ 
+ 
+