bool SendPing(uint8_t dxl_id, int* modelnum, int* firmware_version) {
uint8_t data[MAX_PACKET_BYTES];
// Make packet.
uint16_t num_parameters_tx = MakePingPacket(data, dxl_id);
uint16_t num_parameters_rx = 4; // Error, model low, model high, firmware
bool result = TXRXPacket(data, num_parameters_tx, num_parameters_rx);
uint8_t error = GetByteParam(data, 0);
if (result && error == 0) {
*modelnum = GetWordParam(data, 1);
*firmware_version = GetByteParam(data, 3);
return true;
} else {
return false;
}
}
bool MessageGateway::Ping(NetworkAddress &address, uint16_t id)
{
auto packet = MakePingPacket(id);
return SendDirectedMessage(address, ePacketIDPing, sizeof(packet), &packet);
}