dynamixel_writer.h

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/*
 * Copyright (C) 2017 Inria
 *
 * This file is subject to the terms and conditions of the GNU Lesser General
 * Public License v2.1. See the file LICENSE in the top level directory for more
 * details.
 */
 
#pragma once

 
#include "dynamixel_protocol.h"
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
 
#ifdef __cplusplus
extern "C" {
#endif

typedef struct {
    uint8_t *buffer; 
    size_t size;     
    size_t limit;    
} dynamixel_writer_t;

void dynamixel_writer_init(dynamixel_writer_t *writer, uint8_t *buffer, size_t limit);

const uint8_t *dynamixel_writer_get_data(const dynamixel_writer_t *writer);

size_t dynamixel_writer_get_size(const dynamixel_writer_t *writer);

void dynamixel_writer_ping_make(dynamixel_writer_t *writer, uint8_t id);

void dynamixel_writer_write_make(dynamixel_writer_t *writer, uint8_t id, uint16_t reg, const uint8_t *buffer, size_t size);

void dynamixel_writer_read_make(dynamixel_writer_t *writer, uint8_t id, uint16_t reg, size_t size);
 
#ifdef __cplusplus
}
#endif