text: /*******************************************************************************
  * Copyright 2017 ROBOTIS CO., LTD.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
  *     http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *******************************************************************************/
  
  /* Author: Ryu Woon Jung (Leon) */
  
  //
  // *********     ping Example      *********
  //
  //
  // Available Dynamixel model on this example : All models using Protocol 2.0
  // This example is designed for using a Dynamixel PRO 54-200, and an USB2DYNAMIXEL.
  // To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below "#define"d variables yourself.
  // Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 57600)
  //
  
  #if defined(__linux__) || defined(__APPLE__)
  #include <fcntl.h>
  #include <termios.h>
  #define STDIN_FILENO 0
  #elif defined(_WIN32) || defined(_WIN64)
  #include <conio.h>
  #endif
  
  #include <stdio.h>
  #include "dynamixel_sdk.h"                                  // Uses Dynamixel SDK library
  
  // Protocol version
  #define PROTOCOL_VERSION                2.0                 // See which protocol version is used in the Dynamixel
  
  // Default setting
  #define DXL_ID                          1                   // Dynamixel ID: 1
  #define BAUDRATE                        57600
  #define DEVICENAME                      "/dev/ttyUSB0"      // Check which port is being used on your controller
                                                              // ex) Windows: "COM1"   Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"
  
  int getch()
  {
  #if defined(__linux__) || defined(__APPLE__)
    struct termios oldt, newt;
    int ch;
    tcgetattr(STDIN_FILENO, &oldt);
    newt = oldt;
    newt.c_lflag &= ~(ICANON | ECHO);
    tcsetattr(STDIN_FILENO, TCSANOW, &newt);
    ch = getchar();
    tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
    return ch;
  #elif defined(_WIN32) || defined(_WIN64)
    return _getch();
  #endif
  }
  
  int kbhit(void)
  {
  #if defined(__linux__) || defined(__APPLE__)
    struct termios oldt, newt;
    int ch;
    int oldf;
  
    tcgetattr(STDIN_FILENO, &oldt);
    newt = oldt;
    newt.c_lflag &= ~(ICANON | ECHO);
    tcsetattr(STDIN_FILENO, TCSANOW, &newt);
    oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
    fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);
  
    ch = getchar();
  
    tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
    fcntl(STDIN_FILENO, F_SETFL, oldf);
  
    if (ch != EOF)
    {
      ungetc(ch, stdin);
      return 1;
    }
  
    return 0;
  #elif defined(_WIN32) || defined(_WIN64)
    return _kbhit();
  #endif
  }
  
  int main()
  {
    // Initialize PortHandler Structs
    // Set the port path
    // Get methods and members of PortHandlerLinux or PortHandlerWindows
    int port_num = portHandler(DEVICENAME);
  
    // Initialize PacketHandler Structs
    packetHandler();
  
    int dxl_comm_result = COMM_TX_FAIL;             // Communication result
  
    uint8_t dxl_error = 0;                          // Dynamixel error
    uint16_t dxl_model_number;                      // Dynamixel model number
  
    // Open port
    if (openPort(port_num))
    {
      printf("Succeeded to open the port!\n");
    }
    else
    {
      printf("Failed to open the port!\n");
      printf("Press any key to terminate...\n");
      getch();
      return 0;
    }
  
    // Set port baudrate
    if (setBaudRate(port_num, BAUDRATE))
    {
      printf("Succeeded to change the baudrate!\n");
    }
    else
    {
      printf("Failed to change the baudrate!\n");
      printf("Press any key to terminate...\n");
      getch();
      return 0;
    }
  
    // Try to ping the Dynamixel
    // Get Dynamixel model number
    dxl_model_number = pingGetModelNum(port_num, PROTOCOL_VERSION, DXL_ID);
    if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
    {
      printf("%s\n", getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
    }
    else if ((dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
    {
      printf("%s\n", getRxPacketError(PROTOCOL_VERSION, dxl_error));
    }
    else
    {
      printf("[ID:%03d] ping Succeeded. Dynamixel model number : %d\n", DXL_ID, dxl_model_number);
    }
    // Close port
    closePort(port_num);
  
    return 0;
  }
  