int main()
{
signal(SIGABRT, &sighandler);
signal(SIGTERM, &sighandler);
signal(SIGQUIT, &sighandler);
signal(SIGINT, &sighandler);
char input[MAXNUM_INPUTCHAR];
char *token;
int input_len;
char cmd[80];
char param[20][30];
int num_param;
int iparam[20];
printf( "\n[Dynamixel Monitor for DARwIn %s]\n", PROGRAM_VERSION);
if(cm730.Connect() == true)
{
Scan(&cm730);
while(1)
{
Prompt(gID);
gets(input);
fflush(stdin);
input_len = strlen(input);
if(input_len == 0)
continue;
token = strtok( input, " " );
if(token == 0)
continue;
strcpy( cmd, token );
token = strtok( 0, " " );
num_param = 0;
while(token != 0)
{
strcpy( param[num_param++], token );
token = strtok( 0, " " );
}
if(strcmp(cmd, "exit") == 0)
break;
else if(strcmp(cmd, "scan") == 0)
Scan(&cm730);
else if(strcmp(cmd, "help") == 0)
Help();
else if(strcmp(cmd, "id") == 0)
{
if(num_param != 1)
{
printf(" Invalid parameter!\n");
continue;
}
iparam[0] = atoi(param[0]);
if(cm730.Ping(iparam[0], 0) == CM730::SUCCESS)
{
gID = iparam[0];
}
else
{
printf(" Invalid ID(%d)!\n", iparam[0]);
continue;
}
}
else if(strcmp(cmd, "on") == 0)
{
if(num_param == 0)
{
if(MX28::isMX28(gID))
cm730.WriteByte(gID, MX28::P_TORQUE_ENABLE, 1, 0);
if(AX12::isAX12(gID))
cm730.WriteByte(gID, AX12::P_TORQUE_ENABLE, 1, 0);
if(gID == CM730::ID_CM)
printf(" Dynamixel power on\n");
}
else if(num_param == 1)
{
if(strcmp(param[0], "all") == 0)
{
for(int i=JointData::ID_R_SHOULDER_PITCH; i<JointData::NUMBER_OF_JOINTS; i++)
{
if(MX28::isMX28(i))
cm730.WriteByte(i, MX28::P_TORQUE_ENABLE, 1, 0);
if(AX12::isAX12(i))
cm730.WriteByte(i, AX12::P_TORQUE_ENABLE, 1, 0);
}
}
else
{
printf(" Invalid parameter!\n");
continue;
}
}
else
{
printf(" Invalid parameter!\n");
continue;
}
}
else if(strcmp(cmd, "off") == 0)
{
if(num_param == 0)
{
if(MX28::isMX28(gID))
cm730.WriteByte(gID, MX28::P_TORQUE_ENABLE, 0, 0);
if(AX12::isAX12(gID))
cm730.WriteByte(gID, AX12::P_TORQUE_ENABLE, 0, 0);
if(gID == CM730::ID_CM)
printf(" Dynamixel power off\n");
}
else if(num_param == 1)
{
if(strcmp(param[0], "all") == 0)
{
for(int i=JointData::ID_R_SHOULDER_PITCH; i<JointData::NUMBER_OF_JOINTS; i++)
{
if(MX28::isMX28(i))
cm730.WriteByte(i, MX28::P_TORQUE_ENABLE, 0, 0);
if(AX12::isAX12(i))
cm730.WriteByte(i, AX12::P_TORQUE_ENABLE, 0, 0);
}
}
else
{
printf(" Invalid parameter!\n");
continue;
}
}
else
{
printf(" Invalid parameter!\n");
continue;
}
}
else if(strcmp(cmd, "d") == 0)
Dump(&cm730, gID);
else if(strcmp(cmd, "reset") == 0)
{
int firm_ver = 0;
if(MX28::isMX28(JointData::ID_HEAD_PAN))
if(cm730.ReadByte(JointData::ID_HEAD_PAN, MX28::P_VERSION, &firm_ver, 0) != CM730::SUCCESS)
{
fprintf(stderr, "Can't read firmware version from Dynamixel ID %d!! \n\n", JointData::ID_HEAD_PAN);
exit(0);
}
if(AX12::isAX12(JointData::ID_HEAD_PAN))
if(cm730.ReadByte(JointData::ID_HEAD_PAN, AX12::P_VERSION, &firm_ver, 0) != CM730::SUCCESS)
{
fprintf(stderr, "Can't read firmware version from Dynamixel ID %d!! \n\n", JointData::ID_HEAD_PAN);
exit(0);
}
//#ifdef MX28_1024
// if(27 <= firm_ver)
// {
// fprintf(stderr, "\n MX-28's firmware is not support 1024 resolution!! \n");
// fprintf(stderr, " Remove '#define MX28_1024' from 'MX28.h' file and rebuild.\n\n");
// continue;
// }
//#else
// if(0 < firm_ver && firm_ver < 27)
// {
// fprintf(stderr, "\n MX-28's firmware is not support 4096 resolution!! \n");
// fprintf(stderr, " Upgrade MX-28's firmware to version 27(0x1B) or higher.\n\n");
// continue;
// }
//#endif
if(num_param == 0)
Reset(&cm730, gID);
else if(num_param == 1)
{
if(strcmp(param[0], "all") == 0)
{
for(int i=JointData::ID_R_SHOULDER_PITCH; i<JointData::NUMBER_OF_JOINTS; i++)
Reset(&cm730, i);
Reset(&cm730, CM730::ID_CM);
}
else
{
printf(" Invalid parameter!\n");
continue;
}
}
else
{
printf(" Invalid parameter!\n");
continue;
}
}
else if(strcmp(cmd, "wr") == 0)
{
if(num_param == 2)
Write(&cm730, gID, atoi(param[0]), atoi(param[1]));
else
{
printf(" Invalid parameter!\n");
continue;
}
}
else
printf(" Bad command! please input 'help'.\n");
}
}
else
printf("Failed to connect CM-730!");
printf("\nTerminated DXL Manager.\n");
return 0;
}
