| 51 | } |
| 52 | |
| 53 | void DynamixelSDKWrapper::read_data_set() |
| 54 | { |
| 55 | const char * log = NULL; |
| 56 | bool ret = this->read_register( |
| 57 | device_.id, |
| 58 | read_memory_.start_addr, |
| 59 | read_memory_.length, |
| 60 | &read_data_buffer_[0], |
| 61 | &log); |
| 62 | |
| 63 | if (ret == false) { |
| 64 | LOG_ERROR("DynamixelSDKWrapper", "Failed to read[%s]", log); |
| 65 | } else { |
| 66 | std::lock_guard<std::mutex> lock(read_data_mutex_); |
| 67 | std::copy(read_data_buffer_, read_data_buffer_ + READ_DATA_SIZE, read_data_); |
| 68 | LOG_DEBUG("DynamixelSDKWrapper", "Succeeded to read"); |
| 69 | } |
| 70 | } |
| 71 | |
| 72 | bool DynamixelSDKWrapper::set_data_to_device( |
| 73 | const uint16_t & addr, |
no test coverage detected