change name of package to Easy SDK

GyuH13 · GyuH13 · commit 160e3b988772 · 2025-10-16T17:53:27.000+09:00
Signed-off-by: Hyungyu Kim &lt;kimhg@robotis.com&gt;
diff --git a/c++/build/linux64/Makefile b/c++/build/linux64/Makefile
@@ -62,11 +62,11 @@ SOURCES  = src/dynamixel_sdk/group_bulk_read.cpp \
            src/dynamixel_sdk/protocol1_packet_handler.cpp \
            src/dynamixel_sdk/protocol2_packet_handler.cpp \
            src/dynamixel_sdk/port_handler_linux.cpp \
-           src/dynamixel_api/connector.cpp \
-           src/dynamixel_api/control_table.cpp \
-           src/dynamixel_api/motor.cpp \
-           src/dynamixel_api/dynamixel_error.cpp \
-           src/dynamixel_api/group_executor.cpp
+           src/dynamixel_easy_sdk/connector.cpp \
+           src/dynamixel_easy_sdk/control_table.cpp \
+           src/dynamixel_easy_sdk/motor.cpp \
+           src/dynamixel_easy_sdk/dynamixel_error.cpp \
+           src/dynamixel_easy_sdk/group_executor.cpp
 
 
 OBJECTS=$(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
@@ -96,8 +96,8 @@ install: $(TARGET)
 	@$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/include/dynamixel_sdk || $(MKDIR) $(INSTALL_ROOT)/include/dynamixel_sdk
 	$(CP_ALL) $(DIR_DXL)/include/dynamixel_sdk/* $(INSTALL_ROOT)/include/dynamixel_sdk
 
-	@$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/include/dynamixel_api || $(MKDIR) $(INSTALL_ROOT)/include/dynamixel_api
-	$(CP_ALL) $(DIR_DXL)/include/dynamixel_api/* $(INSTALL_ROOT)/include/dynamixel_api
+	@$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/include/dynamixel_easy_sdk || $(MKDIR) $(INSTALL_ROOT)/include/dynamixel_easy_sdk
+	$(CP_ALL) $(DIR_DXL)/include/dynamixel_easy_sdk/* $(INSTALL_ROOT)/include/dynamixel_easy_sdk
 
     # copy the control_table directory into the share directory
 	@$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/share/dynamixel_sdk || $(MKDIR) -p $(INSTALL_ROOT)/share/dynamixel_sdk
@@ -113,7 +113,7 @@ uninstall:
 
 	$(RM) $(INSTALL_ROOT)/include/dynamixel_sdk/dynamixel_sdk.h
 	$(RM_ALL) $(INSTALL_ROOT)/include/dynamixel_sdk/*
-	$(RM_ALL) $(INSTALL_ROOT)/include/dynamixel_api/*
+	$(RM_ALL) $(INSTALL_ROOT)/include/dynamixel_easy_sdk/*
 	$(RM_ALL) $(INSTALL_ROOT)/share/dynamixel_sdk/control_table
 
 reinstall: uninstall install
@@ -135,7 +135,7 @@ $(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_sdk/%.c
 $(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_sdk/%.cpp
 	$(CX) $(CXFLAGS) -c $? -o $@
 
-$(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_api/%.cpp
+$(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_easy_sdk/%.cpp
 	$(CX) $(CXFLAGS) -c $? -o $@
 
 #---------------------------------------------------------------------
diff --git a/c++/include/dynamixel_easy_sdk/connector.hpp b/c++/include/dynamixel_easy_sdk/connector.hpp
@@ -14,17 +14,17 @@
 //
 // Author: Hyungyu Kim
 
-#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_CONNECTOR_HPP_
-#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_CONNECTOR_HPP_
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONNECTOR_HPP_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONNECTOR_HPP_
 
 #include <memory>
 #include <string>
 #include <vector>
 
 #include "dynamixel_sdk/dynamixel_sdk.h"
-#include "dynamixel_api/dynamixel_error.hpp"
-#include "dynamixel_api/motor.hpp"
-#include "dynamixel_api/group_executor.hpp"
+#include "dynamixel_easy_sdk/dynamixel_error.hpp"
+#include "dynamixel_easy_sdk/motor.hpp"
+#include "dynamixel_easy_sdk/group_executor.hpp"
 
 namespace dynamixel
 {
@@ -59,4 +59,4 @@ class Connector
   PacketHandler * packet_handler_;
 };
 }  // namespace dynamixel
-#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_CONNECTOR_HPP_ */
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONNECTOR_HPP_ */
diff --git a/c++/include/dynamixel_easy_sdk/control_table.hpp b/c++/include/dynamixel_easy_sdk/control_table.hpp
@@ -14,8 +14,8 @@
 //
 // Author: Hyungyu Kim
 
-#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_CONTROL_TABLE_HPP_
-#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_CONTROL_TABLE_HPP_
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONTROL_TABLE_HPP_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONTROL_TABLE_HPP_
 
 #include <cstdint>
 #include <fstream>
@@ -24,7 +24,7 @@
 #include <sstream>
 #include <string>
 
-#include "dynamixel_api/dynamixel_error.hpp"
+#include "dynamixel_easy_sdk/dynamixel_error.hpp"
 
 namespace dynamixel
 {
@@ -42,4 +42,4 @@ class ControlTable
   static const std::map<std::string, ControlTableItem> & getControlTable(uint16_t model_number);
 };
 }  // namespace dynamixel
-#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_CONTROL_TABLE_HPP_ */
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONTROL_TABLE_HPP_ */
diff --git a/c++/include/dynamixel_easy_sdk/dynamixel_easy_sdk.hpp b/c++/include/dynamixel_easy_sdk/dynamixel_easy_sdk.hpp
@@ -14,13 +14,13 @@
 //
 // Author: Hyungyu Kim
 
-#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_DYNAMIXEL_API_HPP_
-#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_DYNAMIXEL_API_HPP_
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_DYNAMIXEL_API_HPP_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_DYNAMIXEL_API_HPP_
 
 
-#include "dynamixel_api/connector.hpp"
-#include "dynamixel_api/dynamixel_error.hpp"
-#include "dynamixel_api/motor.hpp"
-#include "dynamixel_api/group_executor.hpp"
+#include "dynamixel_easy_sdk/connector.hpp"
+#include "dynamixel_easy_sdk/dynamixel_error.hpp"
+#include "dynamixel_easy_sdk/motor.hpp"
+#include "dynamixel_easy_sdk/group_executor.hpp"
 
-#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_HPP_ */
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_DYNAMIXEL_API_HPP_ */
diff --git a/c++/include/dynamixel_easy_sdk/dynamixel_error.hpp b/c++/include/dynamixel_easy_sdk/dynamixel_error.hpp
@@ -14,8 +14,8 @@
 //
 // Author: Hyungyu Kim
 
-#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_DYNAMIXEL_ERROR_HPP_
-#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_DYNAMIXEL_ERROR_HPP_
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_DYNAMIXEL_ERROR_HPP_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_DYNAMIXEL_ERROR_HPP_
 
 #include <variant>
 #include <stdexcept>
@@ -41,13 +41,13 @@ enum class DxlError
   SDK_ERRNUM_DATA_LENGTH = 5,       // Data length error
   SDK_ERRNUM_DATA_LIMIT = 6,        // Data limit error
   SDK_ERRNUM_ACCESS = 7,            // Access error
-  API_FUNCTION_NOT_SUPPORTED = 11,  // API does not support this function
-  API_MOTOR_TORQUE_OFF = 12,        // Motor torque is off
-  API_OPERATING_MODE_MISMATCH = 13, // Operating mode is not appropriate for this function
-  API_ADD_PARAM_FAIL = 21,          // Failed to add parameter
-  API_COMMAND_IS_EMPTY = 22,        // No command to execute
-  API_DUPLICATE_ID = 23,            // Duplicate ID in staged commands
-  API_FAIL_TO_GET_DATA = 24         // Failed to get data from motor
+  EASY_SDK_FUNCTION_NOT_SUPPORTED = 11,  // API does not support this function
+  EASY_SDK_MOTOR_TORQUE_OFF = 12,        // Motor torque is off
+  EASY_SDK_OPERATING_MODE_MISMATCH = 13, // Operating mode is not appropriate for this function
+  EASY_SDK_ADD_PARAM_FAIL = 21,          // Failed to add parameter
+  EASY_SDK_COMMAND_IS_EMPTY = 22,        // No command to execute
+  EASY_SDK_DUPLICATE_ID = 23,            // Duplicate ID in staged commands
+  EASY_SDK_FAIL_TO_GET_DATA = 24         // Failed to get data from motor
 };
 
 template<typename T, typename E>
@@ -142,4 +142,4 @@ class DxlRuntimeError : public std::runtime_error
 std::string getErrorMessage(DxlError error_code);
 }  // namespace dynamixel
 
-#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_DYNAMIXEL_ERROR_HPP_ */
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_DYNAMIXEL_ERROR_HPP_ */
diff --git a/c++/include/dynamixel_easy_sdk/group_executor.hpp b/c++/include/dynamixel_easy_sdk/group_executor.hpp
@@ -14,8 +14,8 @@
 //
 // Author: Hyungyu Kim
 
-#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_GROUP_EXECUTOR_HPP_
-#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_GROUP_EXECUTOR_HPP_
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_GROUP_EXECUTOR_HPP_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_GROUP_EXECUTOR_HPP_
 
 #include <cstdint>
 #include <map>
@@ -25,9 +25,9 @@
 #include <vector>
 
 #include "dynamixel_sdk/dynamixel_sdk.h"
-#include "dynamixel_api/control_table.hpp"
-#include "dynamixel_api/dynamixel_error.hpp"
-#include "dynamixel_api/staged_command.hpp"
+#include "dynamixel_easy_sdk/control_table.hpp"
+#include "dynamixel_easy_sdk/dynamixel_error.hpp"
+#include "dynamixel_easy_sdk/staged_command.hpp"
 
 namespace dynamixel
 {
@@ -68,4 +68,4 @@ class GroupExecutor
 
 }  // namespace dynamixel
 
-#endif  // DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_GROUP_EXECUTOR_HPP_
+#endif  // DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_GROUP_EXECUTOR_HPP_
diff --git a/c++/include/dynamixel_easy_sdk/motor.hpp b/c++/include/dynamixel_easy_sdk/motor.hpp
@@ -14,18 +14,18 @@
 //
 // Author: Hyungyu Kim
 
-#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_MOTOR_HPP_
-#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_MOTOR_HPP_
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_MOTOR_HPP_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_MOTOR_HPP_
 
 #include <cstdint>
 #include <map>
 #include <memory>
 #include <string>
 
 #include "dynamixel_sdk/dynamixel_sdk.h"
-#include "dynamixel_api/control_table.hpp"
-#include "dynamixel_api/dynamixel_error.hpp"
-#include "dynamixel_api/staged_command.hpp"
+#include "dynamixel_easy_sdk/control_table.hpp"
+#include "dynamixel_easy_sdk/dynamixel_error.hpp"
+#include "dynamixel_easy_sdk/staged_command.hpp"
 
 namespace dynamixel
 {
@@ -129,4 +129,4 @@ class Motor
   const std::map<std::string, ControlTableItem> & control_table_;
 };
 }  // namespace dynamixel
-#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_MOTOR_HPP_ */
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_MOTOR_HPP_ */
diff --git a/c++/include/dynamixel_easy_sdk/staged_command.hpp b/c++/include/dynamixel_easy_sdk/staged_command.hpp
@@ -14,8 +14,8 @@
 //
 // Author: Hyungyu Kim
 
-#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_STAGED_COMMAND_HPP_
-#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_STAGED_COMMAND_HPP_
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_STAGED_COMMAND_HPP_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_STAGED_COMMAND_HPP_
 
 #include <cstdint>
 #include <vector>
@@ -51,4 +51,4 @@ struct StagedCommand
 
 }  // namespace dynamixel
 
-#endif  // DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_API_STAGED_COMMAND_HPP_
+#endif  // DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_STAGED_COMMAND_HPP_
diff --git a/c++/src/dynamixel_easy_sdk/connector.cpp b/c++/src/dynamixel_easy_sdk/connector.cpp
@@ -14,7 +14,7 @@
 //
 // Author: Hyungyu Kim
 
-#include "dynamixel_api/connector.hpp"
+#include "dynamixel_easy_sdk/connector.hpp"
 
 namespace dynamixel
 {
diff --git a/c++/src/dynamixel_easy_sdk/control_table.cpp b/c++/src/dynamixel_easy_sdk/control_table.cpp
@@ -16,7 +16,7 @@
 
 #include <stdexcept>
 
-#include "dynamixel_api/control_table.hpp"
+#include "dynamixel_easy_sdk/control_table.hpp"
 
 namespace dynamixel
 {
diff --git a/c++/src/dynamixel_easy_sdk/dynamixel_error.cpp b/c++/src/dynamixel_easy_sdk/dynamixel_error.cpp
@@ -14,7 +14,7 @@
 //
 // Author: Hyungyu Kim
 
-#include "dynamixel_api/dynamixel_error.hpp"
+#include "dynamixel_easy_sdk/dynamixel_error.hpp"
 
 namespace dynamixel
 {
@@ -53,13 +53,13 @@ std::string getErrorMessage(DxlError error_code)
       return "[RxPacketError] The data value exceeds the limit value!";
     case DxlError::SDK_ERRNUM_ACCESS:
       return "[RxPacketError] Writing or Reading is not available to target address!";
-    case DxlError::API_FUNCTION_NOT_SUPPORTED:
+    case DxlError::EASY_SDK_FUNCTION_NOT_SUPPORTED:
       return "[APIError] API function is not supported on this model!";
-    case DxlError::API_ADD_PARAM_FAIL:
+    case DxlError::EASY_SDK_ADD_PARAM_FAIL:
       return "[APIError] Failed to add parameter!";
-    case DxlError::API_COMMAND_IS_EMPTY:
+    case DxlError::EASY_SDK_COMMAND_IS_EMPTY:
       return "[APIError] No command to execute!";
-    case DxlError::API_DUPLICATE_ID:
+    case DxlError::EASY_SDK_DUPLICATE_ID:
       return "[APIError] Duplicate ID found in staged commands.";
     default: return "Unknown Error";
   }
diff --git a/c++/src/dynamixel_easy_sdk/group_executor.cpp b/c++/src/dynamixel_easy_sdk/group_executor.cpp
@@ -16,8 +16,8 @@
 
 #include <algorithm>
 
-#include "dynamixel_api/group_executor.hpp"
-#include "dynamixel_api/connector.hpp"
+#include "dynamixel_easy_sdk/group_executor.hpp"
+#include "dynamixel_easy_sdk/connector.hpp"
 
 namespace dynamixel
 {
@@ -55,7 +55,7 @@ void GroupExecutor::addCmd(Result<StagedCommand, DxlError> result)
 Result<void, DxlError> GroupExecutor::executeWrite()
 {
   if (staged_write_command_list_.empty()) {
-    return DxlError::API_COMMAND_IS_EMPTY;
+    return DxlError::EASY_SDK_COMMAND_IS_EMPTY;
   }
   const auto & reference_command = staged_write_command_list_.front();
   bool is_sync = true;
@@ -77,7 +77,7 @@ Result<void, DxlError> GroupExecutor::executeWrite()
   );
 
   if (it != sorted_list.end()) {
-    return DxlError::API_DUPLICATE_ID;
+    return DxlError::EASY_SDK_DUPLICATE_ID;
   }
 
   for (size_t i = 1; i < staged_write_command_list_.size(); ++i) {
@@ -101,7 +101,7 @@ Result<void, DxlError> GroupExecutor::executeWrite()
 Result<std::vector<Result<int32_t, DxlError>>, DxlError> GroupExecutor::executeRead()
 {
   if (staged_read_command_list_.empty()) {
-    return DxlError::API_COMMAND_IS_EMPTY;
+    return DxlError::EASY_SDK_COMMAND_IS_EMPTY;
   }
   const auto & reference_command = staged_read_command_list_.front();
   bool is_sync = true;
@@ -128,7 +128,7 @@ Result<void, DxlError> GroupExecutor::executeSyncWrite(uint16_t address, uint16_
   GroupSyncWrite group_sync_write(port_handler_, packet_handler_, address, length);
   for (auto & command : staged_write_command_list_) {
     if (!group_sync_write.addParam(command.id, command.data.data())) {
-      return DxlError::API_ADD_PARAM_FAIL;
+      return DxlError::EASY_SDK_ADD_PARAM_FAIL;
     }
   }
   int dxl_comm_result = group_sync_write.txPacket();
@@ -149,7 +149,7 @@ Result<void, DxlError> GroupExecutor::executeBulkWrite()
         command.length,
         command.data.data()))
     {
-      return DxlError::API_ADD_PARAM_FAIL;
+      return DxlError::EASY_SDK_ADD_PARAM_FAIL;
     }
   }
 
@@ -167,7 +167,7 @@ Result<std::vector<Result<int32_t, DxlError>>, DxlError> GroupExecutor::executeS
   GroupSyncRead group_sync_read(port_handler_, packet_handler_, address, length);
   for (const auto & command : staged_read_command_list_) {
     if (!group_sync_read.addParam(command.id)) {
-      return DxlError::API_ADD_PARAM_FAIL;
+      return DxlError::EASY_SDK_ADD_PARAM_FAIL;
     }
   }
 
@@ -178,7 +178,7 @@ Result<std::vector<Result<int32_t, DxlError>>, DxlError> GroupExecutor::executeS
   std::vector<Result<int32_t, DxlError>> result_list;
   for (const auto & command : staged_read_command_list_) {
     if (!group_sync_read.isAvailable(command.id, address, length)) {
-      result_list.push_back(DxlError::API_FAIL_TO_GET_DATA);
+      result_list.push_back(DxlError::EASY_SDK_FAIL_TO_GET_DATA);
       continue;
     }
     int32_t value = group_sync_read.getData(command.id, address, length);
@@ -194,7 +194,7 @@ Result<std::vector<Result<int32_t, DxlError>>, DxlError> GroupExecutor::executeB
 
   for (const auto & command : staged_read_command_list_) {
     if (!group_bulk_read_.addParam(command.id, command.address, command.length)) {
-      return DxlError::API_ADD_PARAM_FAIL;
+      return DxlError::EASY_SDK_ADD_PARAM_FAIL;
     }
   }
 
@@ -206,7 +206,7 @@ Result<std::vector<Result<int32_t, DxlError>>, DxlError> GroupExecutor::executeB
   std::vector<Result<int32_t, DxlError>> result_list;
   for (const auto & command : staged_read_command_list_) {
     if (!group_bulk_read_.isAvailable(command.id, command.address, command.length)) {
-      result_list.push_back(DxlError::API_FAIL_TO_GET_DATA);
+      result_list.push_back(DxlError::EASY_SDK_FAIL_TO_GET_DATA);
       continue;
     }
 
diff --git a/c++/src/dynamixel_easy_sdk/motor.cpp b/c++/src/dynamixel_easy_sdk/motor.cpp

Original file line number	Diff line number	Diff line change
`@@ -14,7 +14,7 @@`
`14`	`14`	`//`
`15`	`15`	`// Author: Hyungyu Kim`
`16`	`16`
`17`		`-#include "dynamixel_api/connector.hpp"`
	`17`	`+#include "dynamixel_easy_sdk/connector.hpp"`
`18`	`18`
`19`	`19`	`namespace dynamixel`
`20`	`20`	`{`
Original file line number	Diff line number	Diff line change
`@@ -16,7 +16,7 @@`
`16`	`16`
`17`	`17`	`#include <stdexcept>`
`18`	`18`
`19`		`-#include "dynamixel_api/control_table.hpp"`
	`19`	`+#include "dynamixel_easy_sdk/control_table.hpp"`
`20`	`20`
`21`	`21`	`namespace dynamixel`
`22`	`22`	`{`