Interface LibFunction

java/dynamixel_functions_java/x86/Dynamixel.java:22–166

import com.sun.jna.Native;

interface LibFunction extends Library
{
  // PortHandler functions
  public int portHandler(String str);

  public Boolean openPort                (int port_num);
  public void    closePort               (int port_num);
  public void    clearPort               (int port_num);

  public void    setPortName             (int port_num, String port_name);
  public String  getPortName             (int port_num);

  public Boolean setBaudRate             (int port_num, int baudrate);
  public int     getBaudRate             (int port_num);

  public int     readPort                (int port_num, byte[] packet, int length);
  public int     writePort               (int port_num, byte[] packet, int length);

  public void    setPacketTimeout        (int port_num, short packet_length);
  public void    setPacketTimeoutMSec    (int port_num, double msec);
  public Boolean isPacketTimeout         (int port_num);

  // PacketHandler functions
  public void    packetHandler           ();

  public String  getTxRxResult           (int protocol_version, int result);
  public String  getRxPacketError        (int protocol_version, byte error);

  public int     getLastTxRxResult       (int port_num, int protocol_version);
  public byte    getLastRxPacketError    (int port_num, int protocol_version);

  public void    setDataWrite            (int port_num, int protocol_version, short data_length, short data_pos, int data);
  public int     getDataRead             (int port_num, int protocol_version, short data_length, short data_pos);

  public void    txPacket                (int port_num, int protocol_version);

  public void    rxPacket                (int port_num, int protocol_version);

  public void    txRxPacket              (int port_num, int protocol_version);

  public void    ping                    (int port_num, int protocol_version, byte id);

  public int     pingGetModelNum         (int port_num, int protocol_version, byte id);

  // broadcastPing
  public void    broadcastPing           (int port_num, int protocol_version);
  public Boolean getBroadcastPingResult  (int port_num, int protocol_version, int id);

  public void    reboot                  (int port_num, int protocol_version, byte id);

  public void    clearMultiTurn          (int port_num, int protocol_version, byte id);
  
  public void    factoryReset            (int port_num, int protocol_version, byte id, byte option);

  public void    readTx                  (int port_num, int protocol_version, byte id, short address, short length);
  public void    readRx                  (int port_num, int protocol_version, short length);
  public void    readTxRx                (int port_num, int protocol_version, byte id, short address, short length);