[examples] allow to override default parameter via CMD line parameter. (

#22)
107-systems · Jul 12, 2023 · 8666554 · 8666554
1 parent e6b2b45
commit 8666554
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Showing 7 changed files with 140 additions and 14 deletions.
diff --git a/examples/example-01-ping/example-01-ping.cpp b/examples/example-01-ping/example-01-ping.cpp
@@ -11,6 +11,7 @@
 
 #include <cstdlib>
 
+#include <sstream>
 #include <iostream>
 
 #include <dynamixel++/dynamixel++.h>
@@ -27,9 +28,26 @@ using namespace dynamixelplusplus;
 
 int main(int argc, char **argv) try
 {
-  Dynamixel dynamixel_ctrl("/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT4NNZ55-if00-port0",
+  size_t      const DEFAULT_BAUD_RATE   = 115200;
+  std::string const DEFAULT_DEVICE_NAME = "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT4NNZ55-if00-port0";
+
+  size_t baud_rate{DEFAULT_BAUD_RATE};
+  std::string device_name{DEFAULT_DEVICE_NAME};
+
+  if (argc > 1) {
+    device_name = std::string(argv[1]);
+  }
+  if (argc > 2) {
+    std::stringstream baud_rate_ss;
+    baud_rate_ss << argv[2];
+    baud_rate_ss >> baud_rate;
+  }
+
+  std::cout << "configured for \"" << device_name << "\" with a baud rate of \"" << baud_rate << "\"." << std::endl;
+
+  Dynamixel dynamixel_ctrl(device_name,
                            Dynamixel::Protocol::V2_0,
-                           115200);
+                           baud_rate);
 
   auto const id_vect = dynamixel_ctrl.broadcastPing();
 

diff --git a/examples/example-02-read/example-02-read.cpp b/examples/example-02-read/example-02-read.cpp
@@ -11,6 +11,7 @@
 
 #include <cstdlib>
 
+#include <sstream>
 #include <iostream>
 
 #include <dynamixel++/dynamixel++.h>
@@ -34,9 +35,26 @@ static uint16_t const MX28_ControlTable_HardwareErrorStatus = 70;
 
 int main(int argc, char **argv) try
 {
-  Dynamixel dynamixel_ctrl("/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT4NNZ55-if00-port0",
+  size_t      const DEFAULT_BAUD_RATE   = 115200;
+  std::string const DEFAULT_DEVICE_NAME = "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT4NNZ55-if00-port0";
+
+  size_t baud_rate{DEFAULT_BAUD_RATE};
+  std::string device_name{DEFAULT_DEVICE_NAME};
+
+  if (argc > 1) {
+    device_name = std::string(argv[1]);
+  }
+  if (argc > 2) {
+    std::stringstream baud_rate_ss;
+    baud_rate_ss << argv[2];
+    baud_rate_ss >> baud_rate;
+  }
+
+  std::cout << "configured for \"" << device_name << "\" with a baud rate of \"" << baud_rate << "\"." << std::endl;
+
+  Dynamixel dynamixel_ctrl(device_name,
                            Dynamixel::Protocol::V2_0,
-                           115200);
+                           baud_rate);
 
   /* Send a broadcast ping to determine which
    * servos are available (more convenient for

diff --git a/examples/example-03-bulk-read/example-03-bulk-read.cpp b/examples/example-03-bulk-read/example-03-bulk-read.cpp
@@ -11,6 +11,7 @@
 
 #include <cstdlib>
 
+#include <sstream>
 #include <iostream>
 
 #include <dynamixel++/dynamixel++.h>
@@ -34,9 +35,26 @@ static uint16_t const MX28_ControlTable_PresentPosition     = 132;
 
 int main(int argc, char **argv) try
 {
-  Dynamixel dynamixel_ctrl("/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT4NNZ55-if00-port0",
+  size_t      const DEFAULT_BAUD_RATE   = 115200;
+  std::string const DEFAULT_DEVICE_NAME = "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT4NNZ55-if00-port0";
+
+  size_t baud_rate{DEFAULT_BAUD_RATE};
+  std::string device_name{DEFAULT_DEVICE_NAME};
+
+  if (argc > 1) {
+    device_name = std::string(argv[1]);
+  }
+  if (argc > 2) {
+    std::stringstream baud_rate_ss;
+    baud_rate_ss << argv[2];
+    baud_rate_ss >> baud_rate;
+  }
+
+  std::cout << "configured for \"" << device_name << "\" with a baud rate of \"" << baud_rate << "\"." << std::endl;
+
+  Dynamixel dynamixel_ctrl(device_name,
                            Dynamixel::Protocol::V2_0,
-                           115200);
+                           baud_rate);
 
   /* Send a broadcast ping to determine which
    * servos are available (more convenient for

diff --git a/examples/example-04-sync-read/example-04-sync-read.cpp b/examples/example-04-sync-read/example-04-sync-read.cpp
@@ -11,6 +11,7 @@
 
 #include <cstdlib>
 
+#include <sstream>
 #include <iostream>
 
 #include <dynamixel++/dynamixel++.h>
@@ -34,9 +35,26 @@ static uint16_t const MX28_ControlTable_PresentPosition     = 132;
 
 int main(int argc, char **argv) try
 {
-  Dynamixel dynamixel_ctrl("/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT4NNZ55-if00-port0",
+  size_t      const DEFAULT_BAUD_RATE   = 115200;
+  std::string const DEFAULT_DEVICE_NAME = "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT4NNZ55-if00-port0";
+
+  size_t baud_rate{DEFAULT_BAUD_RATE};
+  std::string device_name{DEFAULT_DEVICE_NAME};
+
+  if (argc > 1) {
+    device_name = std::string(argv[1]);
+  }
+  if (argc > 2) {
+    std::stringstream baud_rate_ss;
+    baud_rate_ss << argv[2];
+    baud_rate_ss >> baud_rate;
+  }
+
+  std::cout << "configured for \"" << device_name << "\" with a baud rate of \"" << baud_rate << "\"." << std::endl;
+
+  Dynamixel dynamixel_ctrl(device_name,
                            Dynamixel::Protocol::V2_0,
-                           115200);
+                           baud_rate);
 
   /* Send a broadcast ping to determine which
    * servos are available (more convenient for

diff --git a/examples/example-05-write/example-05-write.cpp b/examples/example-05-write/example-05-write.cpp
@@ -12,6 +12,7 @@
 #include <cstdlib>
 
 #include <thread>
+#include <sstream>
 #include <iostream>
 
 #include <dynamixel++/dynamixel++.h>
@@ -42,9 +43,26 @@ void turnLedOff(Dynamixel & dynamixel_ctrl, Dynamixel::Id const id);
 
 int main(int argc, char **argv) try
 {
-  Dynamixel dynamixel_ctrl("/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT4NNZ55-if00-port0",
+  size_t      const DEFAULT_BAUD_RATE   = 115200;
+  std::string const DEFAULT_DEVICE_NAME = "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT4NNZ55-if00-port0";
+
+  size_t baud_rate{DEFAULT_BAUD_RATE};
+  std::string device_name{DEFAULT_DEVICE_NAME};
+
+  if (argc > 1) {
+    device_name = std::string(argv[1]);
+  }
+  if (argc > 2) {
+    std::stringstream baud_rate_ss;
+    baud_rate_ss << argv[2];
+    baud_rate_ss >> baud_rate;
+  }
+
+  std::cout << "configured for \"" << device_name << "\" with a baud rate of \"" << baud_rate << "\"." << std::endl;
+
+  Dynamixel dynamixel_ctrl(device_name,
                            Dynamixel::Protocol::V2_0,
-                           115200);
+                           baud_rate);
 
   /* Send a broadcast ping to determine which
    * servos are available (more convenient for

diff --git a/examples/example-06-bulk-write/example-06-bulk-write.cpp b/examples/example-06-bulk-write/example-06-bulk-write.cpp
@@ -12,6 +12,7 @@
 #include <cstdlib>
 
 #include <thread>
+#include <sstream>
 #include <iostream>
 
 #include <dynamixel++/dynamixel++.h>
@@ -42,9 +43,26 @@ void turnLedOff(Dynamixel & dynamixel_ctrl, Dynamixel::IdVect const & id_vect);
 
 int main(int argc, char **argv) try
 {
-  Dynamixel dynamixel_ctrl("/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT4NNZ55-if00-port0",
+  size_t      const DEFAULT_BAUD_RATE   = 115200;
+  std::string const DEFAULT_DEVICE_NAME = "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT4NNZ55-if00-port0";
+
+  size_t baud_rate{DEFAULT_BAUD_RATE};
+  std::string device_name{DEFAULT_DEVICE_NAME};
+
+  if (argc > 1) {
+    device_name = std::string(argv[1]);
+  }
+  if (argc > 2) {
+    std::stringstream baud_rate_ss;
+    baud_rate_ss << argv[2];
+    baud_rate_ss >> baud_rate;
+  }
+
+  std::cout << "configured for \"" << device_name << "\" with a baud rate of \"" << baud_rate << "\"." << std::endl;
+
+  Dynamixel dynamixel_ctrl(device_name,
                            Dynamixel::Protocol::V2_0,
-                           115200);
+                           baud_rate);
 
   /* Send a broadcast ping to determine which
    * servos are available (more convenient for

diff --git a/examples/example-07-sync-write/example-07-sync-write.cpp b/examples/example-07-sync-write/example-07-sync-write.cpp
@@ -12,6 +12,7 @@
 #include <cstdlib>
 
 #include <thread>
+#include <sstream>
 #include <iostream>
 
 #include <dynamixel++/dynamixel++.h>
@@ -42,9 +43,26 @@ void turnLedOff(Dynamixel & dynamixel_ctrl, Dynamixel::IdVect const & id_vect);
 
 int main(int argc, char **argv) try
 {
-  Dynamixel dynamixel_ctrl("/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT4NNZ55-if00-port0",
+  size_t      const DEFAULT_BAUD_RATE   = 115200;
+  std::string const DEFAULT_DEVICE_NAME = "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT4NNZ55-if00-port0";
+
+  size_t baud_rate{DEFAULT_BAUD_RATE};
+  std::string device_name{DEFAULT_DEVICE_NAME};
+
+  if (argc > 1) {
+    device_name = std::string(argv[1]);
+  }
+  if (argc > 2) {
+    std::stringstream baud_rate_ss;
+    baud_rate_ss << argv[2];
+    baud_rate_ss >> baud_rate;
+  }
+
+  std::cout << "configured for \"" << device_name << "\" with a baud rate of \"" << baud_rate << "\"." << std::endl;
+
+  Dynamixel dynamixel_ctrl(device_name,
                            Dynamixel::Protocol::V2_0,
-                           115200);
+                           baud_rate);
 
   /* Send a broadcast ping to determine which
    * servos are available (more convenient for