| 149 | } |
| 150 | |
| 151 | bool DynamixelSDKWrapper::write_register( |
| 152 | uint8_t id, |
| 153 | uint16_t address, |
| 154 | uint16_t length, |
| 155 | uint8_t * data, |
| 156 | const char ** log) |
| 157 | { |
| 158 | std::lock_guard<std::mutex> lock(sdk_mutex_); |
| 159 | |
| 160 | int32_t dxl_comm_result = COMM_TX_FAIL; |
| 161 | uint8_t dxl_error = 0; |
| 162 | |
| 163 | dxl_comm_result = packetHandler_->writeTxRx( |
| 164 | portHandler_, |
| 165 | id, |
| 166 | address, |
| 167 | length, |
| 168 | data, |
| 169 | &dxl_error); |
| 170 | |
| 171 | if (dxl_comm_result != COMM_SUCCESS) { |
| 172 | if (log != NULL) {*log = packetHandler_->getTxRxResult(dxl_comm_result);} |
| 173 | return false; |
| 174 | } else if (dxl_error != 0) { |
| 175 | if (log != NULL) {*log = packetHandler_->getRxPacketError(dxl_error);} |
| 176 | return false; |
| 177 | } else { |
| 178 | return true; |
| 179 | } |
| 180 | |
| 181 | return false; |
| 182 | } |
nothing calls this directly
no outgoing calls
no test coverage detected