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c ver. .dll binding example - c sharp uploaded
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,229 @@ | ||
| using System; | ||
| using System.Runtime.InteropServices; | ||
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| namespace dynamixel_sdk | ||
| { | ||
| class dynamixel | ||
| { | ||
| const string dll_path = "../../../c/build/win32/output/dxl_x86_c.dll"; | ||
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| #region PortHandler | ||
| [DllImport(dll_path)] | ||
| public static extern int portHandler(string port_name); | ||
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| [DllImport(dll_path)] | ||
| public static extern bool openPort(int port_num); | ||
| [DllImport(dll_path)] | ||
| public static extern void closePort(int port_num); | ||
| [DllImport(dll_path)] | ||
| public static extern void clearPort(int port_num); | ||
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| [DllImport(dll_path)] | ||
| public static extern void setPortName(int port_num, string port_name); | ||
| [DllImport(dll_path)] | ||
| public static extern string getPortName(int port_num); | ||
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| [DllImport(dll_path)] | ||
| public static extern bool setBaudRate(int port_num, int baudrate); | ||
| [DllImport(dll_path)] | ||
| public static extern int getBaudRate(int port_num); | ||
| #endregion | ||
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| #region PacketHandler | ||
| [DllImport(dll_path)] | ||
| public static extern void packetHandler(); | ||
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| [DllImport(dll_path)] | ||
| public static extern void printTxRxResult(int protocol_version, int result); | ||
| [DllImport(dll_path)] | ||
| public static extern void printRxPacketError(int protocol_version, byte error); | ||
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| [DllImport(dll_path)] | ||
| public static extern int getLastTxRxResult(int port_num, int protocol_version); | ||
| [DllImport(dll_path)] | ||
| public static extern byte getLastRxPacketError(int port_num, int protocol_version); | ||
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| [DllImport(dll_path)] | ||
| public static extern void setDataWrite(int port_num, int protocol_version, UInt16 data_length, UInt16 data_pos, UInt32 data); | ||
| [DllImport(dll_path)] | ||
| public static extern UInt32 getDataRead(int port_num, int protocol_version, UInt16 data_length, UInt16 data_pos); | ||
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| [DllImport(dll_path)] | ||
| public static extern void txPacket(int port_num, int protocol_version); | ||
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| [DllImport(dll_path)] | ||
| public static extern void rxPacket(int port_num, int protocol_version); | ||
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| [DllImport(dll_path)] | ||
| public static extern void txRxPacket(int port_num, int protocol_version); | ||
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| [DllImport(dll_path)] | ||
| public static extern void ping(int port_num, int protocol_version, byte id); | ||
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| [DllImport(dll_path)] | ||
| public static extern UInt16 pingGetModelNum(int port_num, int protocol_version, byte id); | ||
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| [DllImport(dll_path)] | ||
| public static extern void broadcastPing(int port_num, int protocol_version); | ||
| [DllImport(dll_path)] | ||
| public static extern bool getBroadcastPingResult(int port_num, int protocol_version, int id); | ||
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| [DllImport(dll_path)] | ||
| public static extern void reboot(int port_num, int protocol_version, byte id); | ||
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| [DllImport(dll_path)] | ||
| public static extern void factoryReset(int port_num, int protocol_version, byte id, byte option); | ||
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| [DllImport(dll_path)] | ||
| public static extern void readTx(int port_num, int protocol_version, byte id, UInt16 address, UInt16 length); | ||
| [DllImport(dll_path)] | ||
| public static extern void readRx(int port_num, int protocol_version, UInt16 length); | ||
| [DllImport(dll_path)] | ||
| public static extern void readTxRx(int port_num, int protocol_version, byte id, UInt16 address, UInt16 length); | ||
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| [DllImport(dll_path)] | ||
| public static extern void read1ByteTx(int port_num, int protocol_version, byte id, UInt16 address); | ||
| [DllImport(dll_path)] | ||
| public static extern byte read1ByteRx(int port_num, int protocol_version); | ||
| [DllImport(dll_path)] | ||
| public static extern byte read1ByteTxRx(int port_num, int protocol_version, byte id, UInt16 address); | ||
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| [DllImport(dll_path)] | ||
| public static extern void read2ByteTx(int port_num, int protocol_version, byte id, UInt16 address); | ||
| [DllImport(dll_path)] | ||
| public static extern UInt16 read2ByteRx(int port_num, int protocol_version); | ||
| [DllImport(dll_path)] | ||
| public static extern UInt16 read2ByteTxRx(int port_num, int protocol_version, byte id, UInt16 address); | ||
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| [DllImport(dll_path)] | ||
| public static extern void read4ByteTx(int port_num, int protocol_version, byte id, UInt16 address); | ||
| [DllImport(dll_path)] | ||
| public static extern UInt32 read4ByteRx(int port_num, int protocol_version); | ||
| [DllImport(dll_path)] | ||
| public static extern UInt32 read4ByteTxRx(int port_num, int protocol_version, byte id, UInt16 address); | ||
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| [DllImport(dll_path)] | ||
| public static extern void writeTxOnly(int port_num, int protocol_version, byte id, UInt16 address, UInt16 length); | ||
| [DllImport(dll_path)] | ||
| public static extern void writeTxRx(int port_num, int protocol_version, byte id, UInt16 address, UInt16 length); | ||
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| [DllImport(dll_path)] | ||
| public static extern void write1ByteTxOnly(int port_num, int protocol_version, byte id, UInt16 address, byte data); | ||
| [DllImport(dll_path)] | ||
| public static extern void write1ByteTxRx(int port_num, int protocol_version, byte id, UInt16 address, byte data); | ||
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| [DllImport(dll_path)] | ||
| public static extern void write2ByteTxOnly(int port_num, int protocol_version, byte id, UInt16 address, UInt16 data); | ||
| [DllImport(dll_path)] | ||
| public static extern void write2ByteTxRx(int port_num, int protocol_version, byte id, UInt16 address, UInt16 data); | ||
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| [DllImport(dll_path)] | ||
| public static extern void write4ByteTxOnly(int port_num, int protocol_version, byte id, UInt16 address, UInt32 data); | ||
| [DllImport(dll_path)] | ||
| public static extern void write4ByteTxRx(int port_num, int protocol_version, byte id, UInt16 address, UInt32 data); | ||
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| [DllImport(dll_path)] | ||
| public static extern void regWriteTxOnly(int port_num, int protocol_version, byte id, UInt16 address, UInt16 length); | ||
| [DllImport(dll_path)] | ||
| public static extern void regWriteTxRx(int port_num, int protocol_version, byte id, UInt16 address, UInt16 length); | ||
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| [DllImport(dll_path)] | ||
| public static extern void syncReadTx(int port_num, int protocol_version, UInt16 start_address, UInt16 data_length, UInt16 param_length); | ||
| // syncReadRx -> GroupSyncRead | ||
| // syncReadTxRx -> GroupSyncRead | ||
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| [DllImport(dll_path)] | ||
| public static extern void syncWriteTxOnly(int port_num, int protocol_version, UInt16 start_address, UInt16 data_length, UInt16 param_length); | ||
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| [DllImport(dll_path)] | ||
| public static extern void bulkReadTx(int port_num, int protocol_version, UInt16 param_length); | ||
| // bulkReadRx -> GroupBulkRead | ||
| // bulkReadTxRx -> GroupBulkRead | ||
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| [DllImport(dll_path)] | ||
| public static extern void bulkWriteTxOnly(int port_num, int protocol_version, UInt16 param_length); | ||
| #endregion | ||
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| #region GroupBulkRead | ||
| [DllImport(dll_path)] | ||
| public static extern int groupBulkRead(int port_num, int protocol_version); | ||
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| [DllImport(dll_path)] | ||
| public static extern bool groupBulkReadAddParam (int group_num, byte id, UInt16 start_address, UInt16 data_length); | ||
| [DllImport(dll_path)] | ||
| public static extern void groupBulkReadRemoveParam (int group_num, byte id); | ||
| [DllImport(dll_path)] | ||
| public static extern void groupBulkReadClearParam (int group_num); | ||
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| [DllImport(dll_path)] | ||
| public static extern void groupBulkReadTxPacket (int group_num); | ||
| [DllImport(dll_path)] | ||
| public static extern void groupBulkReadRxPacket (int group_num); | ||
| [DllImport(dll_path)] | ||
| public static extern void groupBulkReadTxRxPacket (int group_num); | ||
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| [DllImport(dll_path)] | ||
| public static extern bool groupBulkReadIsAvailable (int group_num, byte id, UInt16 address, UInt16 data_length); | ||
| [DllImport(dll_path)] | ||
| public static extern UInt32 groupBulkReadGetData (int group_num, byte id, UInt16 address, UInt16 data_length); | ||
| #endregion | ||
|
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| #region GroupBulkWrite | ||
| [DllImport(dll_path)] | ||
| public static extern int groupBulkWrite (int port_num, int protocol_version); | ||
|
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| [DllImport(dll_path)] | ||
| public static extern bool groupBulkWriteAddParam (int group_num, byte id, UInt16 start_address, UInt16 data_length, UInt32 data, UInt16 input_length); | ||
| [DllImport(dll_path)] | ||
| public static extern void groupBulkWriteRemoveParam (int group_num, byte id); | ||
| [DllImport(dll_path)] | ||
| public static extern bool groupBulkWriteChangeParam (int group_num, byte id, UInt16 start_address, UInt16 data_length, UInt32 data, UInt16 input_length, UInt16 data_pos); | ||
| [DllImport(dll_path)] | ||
| public static extern void groupBulkWriteClearParam (int group_num); | ||
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| [DllImport(dll_path)] | ||
| public static extern void groupBulkWriteTxPacket (int group_num); | ||
| #endregion | ||
|
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| #region GroupSyncRead | ||
| [DllImport(dll_path)] | ||
| public static extern int groupSyncRead (int port_num, int protocol_version, UInt16 start_address, UInt16 data_length); | ||
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| [DllImport(dll_path)] | ||
| public static extern bool groupSyncReadAddParam (int group_num, byte id); | ||
| [DllImport(dll_path)] | ||
| public static extern void groupSyncReadRemoveParam (int group_num, byte id); | ||
| [DllImport(dll_path)] | ||
| public static extern void groupSyncReadClearParam (int group_num); | ||
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| [DllImport(dll_path)] | ||
| public static extern void groupSyncReadTxPacket (int group_num); | ||
| [DllImport(dll_path)] | ||
| public static extern void groupSyncReadRxPacket (int group_num); | ||
| [DllImport(dll_path)] | ||
| public static extern void groupSyncReadTxRxPacket (int group_num); | ||
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| [DllImport(dll_path)] | ||
| public static extern bool groupSyncReadIsAvailable (int group_num, byte id, UInt16 address, UInt16 data_length); | ||
| [DllImport(dll_path)] | ||
| public static extern UInt32 groupSyncReadGetData (int group_num, byte id, UInt16 address, UInt16 data_length); | ||
| #endregion | ||
|
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| #region GroupSyncWrite | ||
| [DllImport(dll_path)] | ||
| public static extern int groupSyncWrite (int port_num, int protocol_version, UInt16 start_address, UInt16 data_length); | ||
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| [DllImport(dll_path)] | ||
| public static extern bool groupSyncWriteAddParam(int group_num, byte id, UInt32 data, UInt16 data_length); | ||
| [DllImport(dll_path)] | ||
| public static extern void groupSyncWriteRemoveParam (int group_num, byte id); | ||
| [DllImport(dll_path)] | ||
| public static extern bool groupSyncWriteChangeParam (int group_num, byte id, UInt32 data, UInt16 data_length, UInt16 data_pos); | ||
| [DllImport(dll_path)] | ||
| public static extern void groupSyncWriteClearParam (int group_num); | ||
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| [DllImport(dll_path)] | ||
| public static extern void groupSyncWriteTxPacket(int group_num); | ||
| #endregion | ||
| } | ||
| } |
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