Merge pull request #276 from ROBOTIS-GIT/develop

updated the CHANGELOG and version to release binary packages

ReleaseNote.md

@@ -1,17 +1,25 @@
 # Dynamixel SDK Release Notes
 
+3.7.0 (2019-01-03)
+------------------
+* added clear instruction [#269](https://github.com/ROBOTIS-GIT/DynamixelSDK/issues/269)
+* removed busy waiting for rxPacket()
+* fixed addStuffing() function (reduced stack memory usage)
+* fixed memory issues [#268](https://github.com/ROBOTIS-GIT/DynamixelSDK/issues/268)
+* fixed the broadcast ping bug in dxl_monitor
+
 3.6.2 (2018-07-17)
 ------------------
 * added python modules for ROS to ros folder
 * moved cpp library files for ROS to ros folder 
-* created an ROS package separately `#187 <https://github.com/ROBOTIS-GIT/DynamixelSDK/issues/187>`_
+* created an ROS package separately [#187](https://github.com/ROBOTIS-GIT/DynamixelSDK/issues/187)
 * modified the e-Manual address to emanual.robotis.com
 
 3.6.1 (2018-06-14)
 ------------------
-* removed printTxRxResult(), printRxPacketError() `#193 <https://github.com/ROBOTIS-GIT/DynamixelSDK/issues/193>`_
+* removed printTxRxResult(), printRxPacketError() [#193](https://github.com/ROBOTIS-GIT/DynamixelSDK/issues/193)
 * removed cache files
-* merge pull request `#195 <https://github.com/ROBOTIS-GIT/DynamixelSDK/issues/195>`_
+* merge pull request [#195](https://github.com/ROBOTIS-GIT/DynamixelSDK/issues/195)
 
 3.6.0 (2018-03-16)
 ------------------

c++/include/dynamixel_sdk/packet_handler.h

@@ -24,6 +24,11 @@
 
 #if defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__)
 #include <Arduino.h>
+
+#define ERROR_PRINT  SerialBT2.print
+#else
+#define ERROR_PRINT  printf
+
 #endif
 
 #include <stdio.h>

c++/src/dynamixel_sdk/port_handler_arduino.cpp

@@ -27,7 +27,7 @@
 #define DYNAMIXEL_SERIAL  Serial3
 #endif
 
-#define LATENCY_TIMER     16  // msec (USB latency timer)
+#define LATENCY_TIMER     4  // msec (USB latency timer)
 
 using namespace dynamixel;
 
@@ -91,10 +91,17 @@ void PortHandlerArduino::closePort()
 
 void PortHandlerArduino::clearPort()
 {
+  int temp __attribute__((unused));
 #if defined(__OPENCR__)
-  DYNAMIXEL_SERIAL.flush();
+  while (DYNAMIXEL_SERIAL.available()) 
+  {
+      temp = DYNAMIXEL_SERIAL.read();
+  }
 #elif defined(__OPENCM904__)
-  p_dxl_serial->flush();
+  while (p_dxl_serial->available()) 
+  {
+      temp = p_dxl_serial->read();
+  }
 #endif
 }
 
@@ -205,7 +212,7 @@ bool PortHandlerArduino::isPacketTimeout()
 
 double PortHandlerArduino::getCurrentTime()
 {
-	return (double)millis();
+  return (double)millis();
 }
 
 double PortHandlerArduino::getTimeSinceStart()
@@ -285,8 +292,15 @@ void PortHandlerArduino::setTxEnable()
 void PortHandlerArduino::setTxDisable()
 {
 #if defined(__OPENCR__)
+#ifdef SERIAL_WRITES_NON_BLOCKING
+  DYNAMIXEL_SERIAL.flush(); // make sure it completes before we disable... 
+#endif
   drv_dxl_tx_enable(FALSE);
+
 #elif defined(__OPENCM904__)
+#ifdef SERIAL_WRITES_NON_BLOCKING
+  p_dxl_serial->flush();
+#endif
   drv_dxl_tx_enable(socket_fd_, FALSE);
 #endif
 }

ros/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package dynamixel_sdk
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.7.0 (2019-01-03)
+------------------
+* added clear instruction [#269](https://github.com/ROBOTIS-GIT/DynamixelSDK/issues/269)
+* removed busy waiting for rxPacket()
+* fixed addStuffing() function (reduced stack memory usage)
+* fixed memory issues [#268](https://github.com/ROBOTIS-GIT/DynamixelSDK/issues/268)
+* fixed the broadcast ping bug in dxl_monitor
+* Contributors: Gilbert, Zerom, Darby Lim, Kurt, Pyo
+
 3.6.2 (2018-07-17)
 ------------------
 * added python modules for ROS to ros folder

ros/include/dynamixel_sdk/packet_handler.h

@@ -24,6 +24,11 @@
 
 #if defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__)
 #include <Arduino.h>
+
+#define ERROR_PRINT  SerialBT2.print
+#else
+#define ERROR_PRINT  printf
+
 #endif
 
 #include <stdio.h>
@@ -587,4 +592,4 @@ class WINDECLSPEC PacketHandler
 }
 
 
-#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_ */
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_ */

ros/include/dynamixel_sdk/protocol1_packet_handler.h

@@ -534,4 +534,4 @@ class WINDECLSPEC Protocol1PacketHandler : public PacketHandler
 }
 
 
-#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_H_ */
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_H_ */

ros/include/dynamixel_sdk/protocol2_packet_handler.h

@@ -551,4 +551,4 @@ class WINDECLSPEC Protocol2PacketHandler : public PacketHandler
 }
 
 
-#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_ */
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_ */

ros/package.xml

@@ -1,15 +1,17 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>dynamixel_sdk</name>
-  <version>3.6.2</version>
+  <version>3.7.0</version>
   <description>
     This package is wrapping version of ROBOTIS Dynamxel SDK for ROS. The ROBOTIS Dynamixel SDK, or SDK, is a software development library that provides Dynamixel control functions for packet communication. The API is designed for Dynamixel actuators and Dynamixel-based platforms.
   </description>
   <license>Apache 2.0</license>
-  <author email="pyo@robotis.com">Pyo</author>
+  <author email="kkjong@robotis.com">Gilbert</author>
   <author email="[email protected]">Zerom</author>
+  <author email="[email protected]">Darby Lim</author>
   <author>Leon</author>
   <maintainer email="[email protected]">Pyo</maintainer>
+  <maintainer email="[email protected]">Gilbert</maintainer>
   <url type="website">http://wiki.ros.org/dynamixel_sdk</url>
   <url type="emanual">http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/DynamixelSDK</url>

ros/src/dynamixel_sdk/port_handler_arduino.cpp

@@ -27,7 +27,7 @@
 #define DYNAMIXEL_SERIAL  Serial3
 #endif
 
-#define LATENCY_TIMER     16  // msec (USB latency timer)
+#define LATENCY_TIMER     4  // msec (USB latency timer)
 
 using namespace dynamixel;
 
@@ -91,10 +91,17 @@ void PortHandlerArduino::closePort()
 
 void PortHandlerArduino::clearPort()
 {
+  int temp __attribute__((unused));
 #if defined(__OPENCR__)
-  DYNAMIXEL_SERIAL.flush();
+  while (DYNAMIXEL_SERIAL.available()) 
+  {
+      temp = DYNAMIXEL_SERIAL.read();
+  }
 #elif defined(__OPENCM904__)
-  p_dxl_serial->flush();
+  while (p_dxl_serial->available()) 
+  {
+      temp = p_dxl_serial->read();
+  }
 #endif
 }
 
@@ -205,7 +212,7 @@ bool PortHandlerArduino::isPacketTimeout()
 
 double PortHandlerArduino::getCurrentTime()
 {
-	return (double)millis();
+  return (double)millis();
 }
 
 double PortHandlerArduino::getTimeSinceStart()
@@ -285,8 +292,15 @@ void PortHandlerArduino::setTxEnable()
 void PortHandlerArduino::setTxDisable()
 {
 #if defined(__OPENCR__)
+#ifdef SERIAL_WRITES_NON_BLOCKING
+  DYNAMIXEL_SERIAL.flush(); // make sure it completes before we disable... 
+#endif
   drv_dxl_tx_enable(FALSE);
+
 #elif defined(__OPENCM904__)
+#ifdef SERIAL_WRITES_NON_BLOCKING
+  p_dxl_serial->flush();
+#endif
   drv_dxl_tx_enable(socket_fd_, FALSE);
 #endif
 }

ros/src/dynamixel_sdk/protocol1_packet_handler.cpp

@@ -725,4 +725,4 @@ int Protocol1PacketHandler::bulkReadTx(PortHandler *port, uint8_t *param, uint16
 int Protocol1PacketHandler::bulkWriteTxOnly(PortHandler *port, uint8_t *param, uint16_t param_length)
 {
   return COMM_NOT_AVAILABLE;
-}
+}

ros/src/dynamixel_sdk/protocol2_packet_handler.cpp

@@ -1069,4 +1069,4 @@ int Protocol2PacketHandler::bulkWriteTxOnly(PortHandler *port, uint8_t *param, u
   free(txpacket);
   //delete[] txpacket;
   return result;
-}
+}