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Fixed GCC errors when building C library #616

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Fixed GCC errors when building C library #616

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2 changes: 0 additions & 2 deletions c/include/dynamixel_sdk/packet_handler.h
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Expand Up @@ -79,8 +79,6 @@ typedef struct
uint8_t *broadcast_ping_id_list;
}PacketData;

PacketData *packetData;

WINDECLSPEC void packetHandler ();

WINDECLSPEC const char *getTxRxResult (int protocol_version, int result);
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5 changes: 0 additions & 5 deletions c/include/dynamixel_sdk/port_handler.h
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Expand Up @@ -42,11 +42,6 @@

#include "robotis_def.h"

static const int DEFAULT_BAUDRATE = 57600;

int g_used_port_num;
uint8_t *g_is_using;

WINDECLSPEC int portHandler (const char *port_name);

WINDECLSPEC uint8_t openPort (int port_num);
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2 changes: 2 additions & 0 deletions c/src/dynamixel_sdk/group_bulk_read.c
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Expand Up @@ -28,6 +28,8 @@
#include "group_bulk_read.h"
#endif

extern PacketData *packetData; // defined in packet_handler.c

typedef struct
{
uint8_t id;
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2 changes: 2 additions & 0 deletions c/src/dynamixel_sdk/group_bulk_write.c
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Expand Up @@ -27,6 +27,8 @@
#include "group_bulk_write.h"
#endif

extern PacketData *packetData; // defined in packet_handler.c

typedef struct
{
uint8_t id;
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2 changes: 2 additions & 0 deletions c/src/dynamixel_sdk/group_sync_read.c
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Expand Up @@ -27,6 +27,8 @@
#include "group_sync_read.h"
#endif

extern PacketData *packetData; // defined in packet_handler.c

typedef struct
{
uint8_t id;
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2 changes: 2 additions & 0 deletions c/src/dynamixel_sdk/group_sync_write.c
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Expand Up @@ -27,6 +27,8 @@
#include "group_sync_write.h"
#endif

extern PacketData *packetData; // defined in packet_handler.c

typedef struct
{
uint8_t id;
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3 changes: 3 additions & 0 deletions c/src/dynamixel_sdk/packet_handler.c
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Expand Up @@ -33,6 +33,9 @@
#include "protocol2_packet_handler.h"
#endif

PacketData *packetData;
extern int g_used_port_num; // defined in port_handler.c

void packetHandler()
{
int port_num;
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5 changes: 5 additions & 0 deletions c/src/dynamixel_sdk/port_handler.c
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Expand Up @@ -91,3 +91,8 @@ void setPacketTimeoutMSec(int port_num, double msec) { setPacketTimeoutMSecWi
uint8_t isPacketTimeout (int port_num) { return isPacketTimeoutWindows(port_num); }

#endif

static const int DEFAULT_BAUDRATE = 57600;

int g_used_port_num;
uint8_t *g_is_using;
3 changes: 3 additions & 0 deletions c/src/dynamixel_sdk/port_handler_linux.c
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Expand Up @@ -89,6 +89,9 @@ typedef struct
}PortData;

static PortData *portData;
extern int DEFAULT_BAUDRATE; // defined in port_handler.c
extern int g_used_port_num; // defined in port_handler.c
extern uint8_t *g_is_using; // defined in port_handler.c

int portHandlerLinux(const char *port_name)
{
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3 changes: 3 additions & 0 deletions c/src/dynamixel_sdk/port_handler_mac.c
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Expand Up @@ -56,6 +56,9 @@ typedef struct
}PortData;

static PortData *portData;
extern int DEFAULT_BAUDRATE; // defined in port_handler.c
extern int g_used_port_num; // defined in port_handler.c
extern uint8_t *g_is_using; // defined in port_handler.c

int portHandlerMac(const char *port_name)
{
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3 changes: 3 additions & 0 deletions c/src/dynamixel_sdk/port_handler_windows.c
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Expand Up @@ -48,6 +48,9 @@ typedef struct
}PortData;

static PortData *portData;
extern int DEFAULT_BAUDRATE; // defined in port_handler.c
extern int g_used_port_num; // defined in port_handler.c
extern uint8_t *g_is_using; // defined in port_handler.c

int portHandlerWindows(const char *port_name)
{
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5 changes: 4 additions & 1 deletion c/src/dynamixel_sdk/protocol1_packet_handler.c
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Expand Up @@ -49,6 +49,9 @@
#define ERRBIT_OVERLOAD 32 // The current load cannot be controlled by the set torque.
#define ERRBIT_INSTRUCTION 64 // Undefined instruction or delivering the action command without the reg_write command.

extern PacketData *packetData; // defined in packet_handler.c
extern uint8_t *g_is_using; // defined in port_handler.c

const char *getTxRxResult1(int result)
{
switch (result)
Expand Down Expand Up @@ -701,7 +704,7 @@ void regWriteTxOnly1(int port_num, uint8_t id, uint16_t address, uint16_t length
}

txPacket1(port_num);

g_is_using[port_num] = False;
}

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27 changes: 15 additions & 12 deletions c/src/dynamixel_sdk/protocol2_packet_handler.c
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Expand Up @@ -58,6 +58,9 @@

#define ERRBIT_ALERT 128 //When the device has a problem, this bit is set to 1. Check "Device Status Check" value.

extern PacketData *packetData; // defined in packet_handler.c
extern uint8_t *g_is_using; // defined in port_handler.c

const char *getTxRxResult2(int result)
{
switch (result)
Expand Down Expand Up @@ -251,24 +254,24 @@ void addStuffing(uint8_t *packet)
uint16_t i;
uint16_t packet_length_before_crc;
uint16_t out_index, in_index;

int packet_length_in = DXL_MAKEWORD(packet[PKT_LENGTH_L], packet[PKT_LENGTH_H]);
int packet_length_out = packet_length_in;

if (packet_length_in < 8) // INSTRUCTION, ADDR_L, ADDR_H, CRC16_L, CRC16_H + FF FF FD
return;

packet_length_before_crc = packet_length_in - 2;
for (i = 3; i < packet_length_before_crc; i++)
{
packet_ptr = &packet[i+PKT_INSTRUCTION-2];
if (packet_ptr[0] == 0xFF && packet_ptr[1] == 0xFF && packet_ptr[2] == 0xFD)
packet_length_out++;
}

if (packet_length_in == packet_length_out) // no stuffing required
return;

out_index = packet_length_out + 6 - 2; // last index before crc
in_index = packet_length_in + 6 - 2; // last index before crc
while (out_index != in_index)
Expand Down Expand Up @@ -548,7 +551,7 @@ uint16_t pingGetModelNum2(int port_num, uint8_t id)
printf("[PingGetModeNum] memory allocation failed.. \n");
return COMM_TX_FAIL;
}

if (id >= BROADCAST_ID)
{
packetData[port_num].communication_result = COMM_NOT_AVAILABLE;
Expand Down Expand Up @@ -749,7 +752,7 @@ void clearMultiTurn2(int port_num, uint8_t id)
printf("[ClearMultiTurn] memory allocation failed..\n");
return;
}

packetData[port_num].tx_packet[PKT_ID] = id;
packetData[port_num].tx_packet[PKT_LENGTH_L] = 8;
packetData[port_num].tx_packet[PKT_LENGTH_H] = 0;
Expand All @@ -772,7 +775,7 @@ void factoryReset2(int port_num, uint8_t id, uint8_t option)
printf("[FactoryReset] memory allocation failed..\n");
return;
}

packetData[port_num].tx_packet[PKT_ID] = id;
packetData[port_num].tx_packet[PKT_LENGTH_L] = 4;
packetData[port_num].tx_packet[PKT_LENGTH_H] = 0;
Expand All @@ -792,7 +795,7 @@ void readTx2(int port_num, uint8_t id, uint16_t address, uint16_t length)
printf("[ReadTx] memory allocation failed..\n");
return;
}

if (id >= BROADCAST_ID)
{
packetData[port_num].communication_result = COMM_NOT_AVAILABLE;
Expand Down Expand Up @@ -828,7 +831,7 @@ void readRx2(int port_num, uint16_t length)
printf("[ReadRx] memory allocation failed..\n");
return;
}

rxPacket2(port_num);
if (packetData[port_num].communication_result == COMM_SUCCESS)
{
Expand All @@ -854,7 +857,7 @@ void readTxRx2(int port_num, uint8_t id, uint16_t address, uint16_t length)
printf("[ReadTxRx] memory allocation failed..\n");
return;
}

if (id >= BROADCAST_ID)
{
packetData[port_num].communication_result = COMM_NOT_AVAILABLE;
Expand Down Expand Up @@ -1032,7 +1035,7 @@ void writeTxRx2(int port_num, uint8_t id, uint16_t address, uint16_t length)
printf("[WriteTxRx] memory allocation failed..\n");
return;
}

packetData[port_num].tx_packet[PKT_ID] = id;
packetData[port_num].tx_packet[PKT_LENGTH_L] = DXL_LOBYTE(length + 5);
packetData[port_num].tx_packet[PKT_LENGTH_H] = DXL_HIBYTE(length + 5);
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