A SyncGroup is a convenient simplification on-top of the sync API.

include/dynamixel++/SyncGroup.hpp

@@ -0,0 +1,59 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2022 LXRobotics GmbH.
+ * Author: Alexander Entinger <alexander.entinger@lxrobotics.com>
+ * Contributors: https://github.com/107-systems/libdynamixelplusplus/graphs/contributors.
+ */
+
+#ifndef DYNAMIXEL_SYNCGROUP_H
+#define DYNAMIXEL_SYNCGROUP_H
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include "Dynamixel.hpp"
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+namespace dynamixelplusplus
+{
+
+/**************************************************************************************
+ * CLASS DECLARATION
+ **************************************************************************************/
+
+class SyncGroup
+{
+public:
+  SyncGroup(SharedDynamixel dyn_ctrl, Dynamixel::IdVect const & id_vect)
+  : _dyn_ctrl{dyn_ctrl}
+  , _id_vect{id_vect}
+  { }
+
+
+  template<typename T> std::vector<T> read (uint16_t const start_address);
+  template<typename T> void           write(uint16_t const start_address, T const val);
+  template<typename T> void           write(uint16_t const start_address, std::vector<T> const & val_vect);
+
+
+private:
+  SharedDynamixel _dyn_ctrl;
+  Dynamixel::IdVect const _id_vect;
+};
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* dynamixelplusplus */
+
+/**************************************************************************************
+ * TEMPLATE IMPLEMENTATION
+ **************************************************************************************/
+
+#include "SyncGroup.ipp"
+
+#endif /* DYNAMIXEL_SYNCGROUP_H */

include/dynamixel++/SyncGroup.ipp

@@ -0,0 +1,59 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2022 LXRobotics GmbH.
+ * Author: Alexander Entinger <alexander.entinger@lxrobotics.com>
+ * Contributors: https://github.com/107-systems/libdynamixelplusplus/graphs/contributors.
+ */
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+namespace dynamixelplusplus
+{
+
+/**************************************************************************************
+ * PUBLIC MEMBER FUNCTIONS
+ **************************************************************************************/
+
+template<typename T> std::vector<T> SyncGroup::read(uint16_t const start_address)
+{
+  std::vector<T> data_vect;
+  std::map<Dynamixel::Id, T> const data_map = _dyn_ctrl->syncRead<T>(start_address, _id_vect);
+
+  for (auto [id, val] : data_map)
+    data_vect.push_back(val);
+
+  return data_vect;
+}
+
+template<typename T> void SyncGroup::write(uint16_t const start_address, T const val)
+{
+  std::map<Dynamixel::Id, T> data_map;
+
+  for (auto id : _id_vect)
+    data_map[id] = val;
+
+  _dyn_ctrl->syncWrite(start_address, data_map);
+}
+
+template<typename T> void SyncGroup::write(uint16_t const start_address, std::vector<T> const & val_vect)
+{
+  assert(val_vect.size() == _id_vect.size());
+
+  std::map<Dynamixel::Id, T> data_map;
+
+  auto id_citer = _id_vect.cbegin();
+  auto val_citer = val_vect.cbegin();
+
+  for (; id_citer != _id_vect.cend(); id_citer++, val_citer++)
+    data_map[*id_citer] = *val_citer;
+
+  _dyn_ctrl->syncWrite(start_address, data_map);
+}
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* dynamixelplusplus */

include/dynamixel++/dynamixel++.h

@@ -13,5 +13,6 @@
  **************************************************************************************/
 
 #include "Dynamixel.hpp"
+#include "SyncGroup.hpp"
 
 #endif /* DYNAMIXEL_DYNAMIXELPLUSPLUS_H */