DynamixelSDK 3.4.2 updates

DynamixelSDK 3.4.2 updates

c++/example/dxl_monitor/dxl_monitor.cpp

@@ -114,9 +114,9 @@ int kbhit(void)
 void usage(char *progname)
 {
   printf("-----------------------------------------------------------------------\n");
-  printf("Usage: %s\n");
+  printf("Usage: %s\n", progname);
   printf(" [-h | --help]........: display this help\n");
-  printf("[-d | --device]......: port to open\n", progname);
+  printf(" [-d | --device]......: port to open\n");
   printf("-----------------------------------------------------------------------\n");
 }
 

c++/example/dxl_monitor/linux_sbc/Makefile

@@ -0,0 +1,79 @@
+##################################################
+# PROJECT: DXL Monitor tool Makefile
+# AUTHOR : ROBOTIS Ltd.
+##################################################
+
+#---------------------------------------------------------------------
+# Makefile template for projects using DXL SDK
+#
+# Please make sure to follow these instructions when setting up your
+# own copy of this file:
+#
+#   1- Enter the name of the target (the TARGET variable)
+#   2- Add additional source files to the SOURCES variable
+#   3- Add additional static library objects to the OBJECTS variable
+#      if necessary
+#   4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
+#      appropriate to your needs
+#
+#
+# This makefile will link against several libraries, not all of which
+# are necessarily needed for your project.  Please feel free to
+# remove libaries you do not need.
+#---------------------------------------------------------------------
+
+# *** ENTER THE TARGET NAME HERE ***
+TARGET      = dxl_monitor
+
+# important directories used by assorted rules and other variables
+DIR_DXL    = ../..
+DIR_OBJS   = .objects
+
+# compiler options
+CC          = gcc
+CX          = g++
+CCFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
+CXFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
+LNKCC       = $(CX)
+LNKFLAGS    = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
+
+#---------------------------------------------------------------------
+# Core components (all of these are likely going to be needed)
+#---------------------------------------------------------------------
+INCLUDES   += -I$(DIR_DXL)/include
+LIBRARIES  += -ldxl_sbc_cpp
+LIBRARIES  += -lrt
+
+#---------------------------------------------------------------------
+# Files
+#---------------------------------------------------------------------
+SOURCES = dxl_monitor.cpp \
+    # *** OTHER SOURCES GO HERE ***
+
+OBJECTS  = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
+#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
+
+
+#---------------------------------------------------------------------
+# Compiling Rules
+#---------------------------------------------------------------------
+$(TARGET): make_directory $(OBJECTS)
+	$(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
+
+all: $(TARGET)
+
+clean:
+	rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
+
+make_directory:
+	mkdir -p $(DIR_OBJS)/
+
+$(DIR_OBJS)/%.o: ../%.c
+	$(CC) $(CCFLAGS) -c $? -o $@
+
+$(DIR_OBJS)/%.o: ../%.cpp
+	$(CX) $(CXFLAGS) -c $? -o $@
+
+#---------------------------------------------------------------------
+# End of Makefile
+#---------------------------------------------------------------------

c++/example/protocol1.0/bulk_read/linux_sbc/Makefile

@@ -0,0 +1,79 @@
+##################################################
+# PROJECT: DXL Protocol 1.0 bulk_read Example Makefile
+# AUTHOR : ROBOTIS Ltd.
+##################################################
+
+#---------------------------------------------------------------------
+# Makefile template for projects using DXL SDK
+#
+# Please make sure to follow these instructions when setting up your
+# own copy of this file:
+#
+#   1- Enter the name of the target (the TARGET variable)
+#   2- Add additional source files to the SOURCES variable
+#   3- Add additional static library objects to the OBJECTS variable
+#      if necessary
+#   4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
+#      appropriate to your needs
+#
+#
+# This makefile will link against several libraries, not all of which
+# are necessarily needed for your project.  Please feel free to
+# remove libaries you do not need.
+#---------------------------------------------------------------------
+
+# *** ENTER THE TARGET NAME HERE ***
+TARGET      = bulk_read
+
+# important directories used by assorted rules and other variables
+DIR_DXL    = ../../..
+DIR_OBJS   = .objects
+
+# compiler options
+CC          = gcc
+CX          = g++
+CCFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
+CXFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
+LNKCC       = $(CX)
+LNKFLAGS    = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
+
+#---------------------------------------------------------------------
+# Core components (all of these are likely going to be needed)
+#---------------------------------------------------------------------
+INCLUDES   += -I$(DIR_DXL)/include
+LIBRARIES  += -ldxl_sbc_cpp
+LIBRARIES  += -lrt
+
+#---------------------------------------------------------------------
+# Files
+#---------------------------------------------------------------------
+SOURCES = bulk_read.cpp \
+    # *** OTHER SOURCES GO HERE ***
+
+OBJECTS  = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
+#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
+
+
+#---------------------------------------------------------------------
+# Compiling Rules
+#---------------------------------------------------------------------
+$(TARGET): make_directory $(OBJECTS)
+	$(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
+
+all: $(TARGET)
+
+clean:
+	rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
+
+make_directory:
+	mkdir -p $(DIR_OBJS)/
+
+$(DIR_OBJS)/%.o: ../%.c
+	$(CC) $(CCFLAGS) -c $? -o $@
+
+$(DIR_OBJS)/%.o: ../%.cpp
+	$(CX) $(CXFLAGS) -c $? -o $@
+
+#---------------------------------------------------------------------
+# End of Makefile
+#---------------------------------------------------------------------

c++/example/protocol1.0/multi_port/linux_sbc/Makefile

@@ -0,0 +1,79 @@
+##################################################
+# PROJECT: DXL Protocol 1.0 multi_port Example Makefile
+# AUTHOR : ROBOTIS Ltd.
+##################################################
+
+#---------------------------------------------------------------------
+# Makefile template for projects using DXL SDK
+#
+# Please make sure to follow these instructions when setting up your
+# own copy of this file:
+#
+#   1- Enter the name of the target (the TARGET variable)
+#   2- Add additional source files to the SOURCES variable
+#   3- Add additional static library objects to the OBJECTS variable
+#      if necessary
+#   4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
+#      appropriate to your needs
+#
+#
+# This makefile will link against several libraries, not all of which
+# are necessarily needed for your project.  Please feel free to
+# remove libaries you do not need.
+#---------------------------------------------------------------------
+
+# *** ENTER THE TARGET NAME HERE ***
+TARGET      = multi_port
+
+# important directories used by assorted rules and other variables
+DIR_DXL    = ../../..
+DIR_OBJS   = .objects
+
+# compiler options
+CC          = gcc
+CX          = g++
+CCFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
+CXFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
+LNKCC       = $(CX)
+LNKFLAGS    = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
+
+#---------------------------------------------------------------------
+# Core components (all of these are likely going to be needed)
+#---------------------------------------------------------------------
+INCLUDES   += -I$(DIR_DXL)/include
+LIBRARIES  += -ldxl_sbc_cpp
+LIBRARIES  += -lrt
+
+#---------------------------------------------------------------------
+# Files
+#---------------------------------------------------------------------
+SOURCES = multi_port.cpp \
+    # *** OTHER SOURCES GO HERE ***
+
+OBJECTS  = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
+#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
+
+
+#---------------------------------------------------------------------
+# Compiling Rules
+#---------------------------------------------------------------------
+$(TARGET): make_directory $(OBJECTS)
+	$(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
+
+all: $(TARGET)
+
+clean:
+	rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
+
+make_directory:
+	mkdir -p $(DIR_OBJS)/
+
+$(DIR_OBJS)/%.o: ../%.c
+	$(CC) $(CCFLAGS) -c $? -o $@
+
+$(DIR_OBJS)/%.o: ../%.cpp
+	$(CX) $(CXFLAGS) -c $? -o $@
+
+#---------------------------------------------------------------------
+# End of Makefile
+#---------------------------------------------------------------------

c++/example/protocol1.0/ping/linux_sbc/Makefile

@@ -0,0 +1,79 @@
+##################################################
+# PROJECT: DXL Protocol 1.0 ping Example Makefile
+# AUTHOR : ROBOTIS Ltd.
+##################################################
+
+#---------------------------------------------------------------------
+# Makefile template for projects using DXL SDK
+#
+# Please make sure to follow these instructions when setting up your
+# own copy of this file:
+#
+#   1- Enter the name of the target (the TARGET variable)
+#   2- Add additional source files to the SOURCES variable
+#   3- Add additional static library objects to the OBJECTS variable
+#      if necessary
+#   4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
+#      appropriate to your needs
+#
+#
+# This makefile will link against several libraries, not all of which
+# are necessarily needed for your project.  Please feel free to
+# remove libaries you do not need.
+#---------------------------------------------------------------------
+
+# *** ENTER THE TARGET NAME HERE ***
+TARGET      = ping
+
+# important directories used by assorted rules and other variables
+DIR_DXL    = ../../..
+DIR_OBJS   = .objects
+
+# compiler options
+CC          = gcc
+CX          = g++
+CCFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
+CXFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
+LNKCC       = $(CX)
+LNKFLAGS    = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
+
+#---------------------------------------------------------------------
+# Core components (all of these are likely going to be needed)
+#---------------------------------------------------------------------
+INCLUDES   += -I$(DIR_DXL)/include
+LIBRARIES  += -ldxl_sbc_cpp
+LIBRARIES  += -lrt
+
+#---------------------------------------------------------------------
+# Files
+#---------------------------------------------------------------------
+SOURCES = ping.cpp \
+    # *** OTHER SOURCES GO HERE ***
+
+OBJECTS  = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
+#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
+
+
+#---------------------------------------------------------------------
+# Compiling Rules
+#---------------------------------------------------------------------
+$(TARGET): make_directory $(OBJECTS)
+	$(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
+
+all: $(TARGET)
+
+clean:
+	rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
+
+make_directory:
+	mkdir -p $(DIR_OBJS)/
+
+$(DIR_OBJS)/%.o: ../%.c
+	$(CC) $(CCFLAGS) -c $? -o $@
+
+$(DIR_OBJS)/%.o: ../%.cpp
+	$(CX) $(CXFLAGS) -c $? -o $@
+
+#---------------------------------------------------------------------
+# End of Makefile
+#---------------------------------------------------------------------