updated the inspexel code for the newest imported code

src/detect.cpp

@@ -140,26 +140,26 @@ auto readDetailedInfos(dynamixel::USB2Dynamixel& usb2dyn, std::vector<std::tuple
 }
 
 void runDetect() {
-	baudrates.get().emplace(g_baudrate);
-	auto timeout = std::chrono::microseconds{g_timeout};
+	baudrates->emplace(*g_baudrate);
+	auto timeout = std::chrono::microseconds{*g_timeout};
 	auto protocols = std::vector<dynamixel::Protocol>{dynamixel::Protocol::V1, dynamixel::Protocol::V2};
-	if (g_protocolVersion.isSpecified()) {
-		protocols = {dynamixel::Protocol{int(g_protocolVersion)}};
+	if (g_protocolVersion) {
+		protocols = {dynamixel::Protocol{*g_protocolVersion}};
 	}
 	for (auto protocolVersion : protocols) {
 		std::cout << "# trying protocol version " << int(protocolVersion) << "\n";
-		for (auto baudrate : baudrates.get()) {
+		for (auto baudrate : *baudrates) {
 			std::cout << "## trying baudrate: " << baudrate << "\n";
-			auto usb2dyn = dynamixel::USB2Dynamixel(baudrate, g_device.get(), protocolVersion);
+			auto usb2dyn = dynamixel::USB2Dynamixel(baudrate, *g_device, protocolVersion);
 
 			// generate range to check
 			std::vector<int> range(0xFD);
 			std::iota(begin(range), end(range), 0);
-			if (g_id.isSpecified()) {
-				range = {MotorID(g_id)};
-			} else  if (ids.isSpecified()) {
+			if (g_id) {
+				range = {*g_id};
+			} else  if (ids) {
 				range.clear();
-				for (auto x : ids.get()) {
+				for (auto x : *ids) {
 					range.push_back(x);
 				}
 			}

src/fsCommand.cpp

@@ -137,22 +137,20 @@ std::vector<std::unique_ptr<simplyfuse::FuseFile>> registerMotor(MotorID motorID
 }
 
 void runFuse() {
-	auto timeout = std::chrono::microseconds{g_timeout};
-	auto usb2dyn = USB2Dynamixel(g_baudrate, g_device.get(), Protocol{g_protocolVersion.get()});
+	auto timeout = std::chrono::microseconds{*g_timeout};
+	auto usb2dyn = USB2Dynamixel(*g_baudrate, *g_device, *g_protocolVersion);
 
 	std::vector<int> range;
-	if (g_id.isSpecified()) {
-		range = {MotorID(g_id)};
-	} else if (ids.isSpecified()) {
-		for (auto x : ids.get()) {
-			range.push_back(x);
-		}
+	if (g_id) {
+		range = {MotorID(*g_id)};
+	} else if (ids) {
+        std::copy(begin(*ids), end(*ids), std::back_inserter(range));
 	} else {
 		range.resize(0xfe);
 		std::iota(begin(range), end(range), 0);
 	}
 
-	simplyfuse::FuseFS fuseFS{mountPoint.get()};
+	simplyfuse::FuseFS fuseFS{*mountPoint};
 	std::map<MotorID, std::vector<std::unique_ptr<simplyfuse::FuseFile>>> files;
 
 	auto detectAndHandleMotor = [&](MotorID motor) {

src/globalOptions.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <sargparse/Parameter.h>
+#include "usb2dynamixel/USB2Dynamixel.h"
 
 
 auto listDeviceFiles(std::vector<std::string> const& _str) -> std::pair<bool, std::set<std::string>>;
@@ -12,4 +13,7 @@ inline auto g_device          = sargp::Parameter<std::string>(getDefaultSerialPo
 inline auto g_id              = sargp::Parameter<int>(0, "id", "the target Id (values: 0x00 - 0xfd)");
 inline auto g_baudrate        = sargp::Parameter<int>(1000000, "baudrate", "baudrate to use (e.g.: 1m)", {}, &listTypicalBaudrates);
 inline auto g_timeout         = sargp::Parameter<int>(10000, "timeout", "timeout in us");
-inline auto g_protocolVersion = sargp::Parameter<int>(1, "protocol_version", "the dynamixel protocol version (values: 1, 2)");
+inline auto g_protocolVersion = sargp::Choice<dynamixel::Protocol>(dynamixel::Protocol::V1, "protocol_version", {
+    {"1", dynamixel::Protocol::V1},
+    {"2", dynamixel::Protocol::V2}
+}, "the dynamixel protocol version (values: 1, 2)");

src/main.cpp

@@ -37,9 +37,9 @@ int main(int argc, char** argv)
 		// pass everything except the name of the application
 		sargp::parseArguments(argc-1, argv+1);
 
-		if (printHelp.isSpecified()) {
+		if (printHelp) {
 			std::cout << "inspexel version " << VERSION << " - " << DATE << "\n";
-			std::cout << sargp::generateHelpString(std::regex{".*" + printHelp.get().value_or("") + ".*"});
+			std::cout << sargp::generateHelpString(std::regex{".*" + printHelp->value_or("") + ".*"});
 			return 0;
 		}
 		sargp::callCommands();

src/metaCmd.cpp

@@ -102,8 +102,8 @@ void printDetailInfoTable(meta::MotorInfo const& data) {
 
 
 void runMeta() {
-	if (optMotorName.isSpecified()) {
-		auto name = optMotorName.get();
+	if (optMotorName) {
+		auto name = *optMotorName;
 		std::transform(begin(name), end(name), begin(name), ::toupper);
 		auto info = meta::getMotorInfo(name);
 		if (not info) {

src/rebootCmd.cpp

@@ -8,11 +8,11 @@ void runReboot();
 auto rebootCmd = sargp::Command{"reboot", "reboot device with specified id", runReboot};
 
 void runReboot() {
-	if (not g_id.isSpecified()) {
+	if (not g_id) {
 		throw std::runtime_error("must specify a id");
 	}
-	auto usb2dyn = dynamixel::USB2Dynamixel(g_baudrate, g_device.get(), dynamixel::Protocol(g_protocolVersion.get()));
-	usb2dyn.reboot(g_id);
+	auto usb2dyn = dynamixel::USB2Dynamixel(*g_baudrate, *g_device, *g_protocolVersion);
+	usb2dyn.reboot(*g_id);
 }
 
 }

src/setValues.cpp

@@ -13,19 +13,19 @@ auto angle       = setAngleCmd.Parameter<int>(0, "angle", "the goal angle (raw r
 
 void runSetAngle() {
 	bool error = false;
-	if (not g_id.isSpecified()) {
+	if (not g_id) {
 		std::cout << "need to specify the target id!" << std::endl;
 		error = true;
 	}
-	if (not angle.isSpecified()) {
+	if (not angle) {
 		std::cout << "target angle has to be specified!" << std::endl;
 		error = true;
 	}
 	if (error) {
 		exit(-1);
 	}
 
-	auto usb2dyn = dynamixel::USB2Dynamixel(g_baudrate, g_device.get(), dynamixel::Protocol(g_protocolVersion.get()));
+	auto usb2dyn = dynamixel::USB2Dynamixel(*g_baudrate, *g_device, *g_protocolVersion);
 	auto [timeoutFlag, motorID, errorCode, layout] = usb2dyn.read<dynamixel::mx_v1::Register::MODEL_NUMBER, 2>(dynamixel::MotorID(g_id), std::chrono::microseconds{g_timeout});
 	if (timeoutFlag) {
 		std::cout << "the specified motor is not present" << std::endl;
@@ -55,9 +55,9 @@ auto values         = setRegisterCmd.Parameter<std::vector<uint8_t>>({}, "values
 auto ids            = setRegisterCmd.Parameter<std::vector<int>>({}, "ids", "use this if you want to set multiple devices at once");
 
 void runSetRegister() {
-	if (not g_id.isSpecified() and not ids.isSpecified()) throw std::runtime_error("need to specify the target g_id!");
-	if (not reg.isSpecified()) throw std::runtime_error("target register has to be specified!");
-	if (not values.isSpecified()) throw std::runtime_error("values to be written to the register have to be specified!");
+	if (not g_id and not ids) throw std::runtime_error("need to specify the target g_id!");
+	if (not reg) throw std::runtime_error("target register has to be specified!");
+	if (not values) throw std::runtime_error("values to be written to the register have to be specified!");
 
 	auto f = [&](int id) {
 		std::cout << "set register " << reg << " of motor " << id << " to";
@@ -72,10 +72,10 @@ void runSetRegister() {
 		auto usb2dyn = dynamixel::USB2Dynamixel(g_baudrate, g_device.get(), dynamixel::Protocol(g_protocolVersion.get()));
 		usb2dyn.write(id, int(reg), txBuf);
 	};
-	if (g_id.isSpecified()) {
+	if (g_id) {
 		f(g_id);
 	}
-	if (ids.isSpecified()) {
+	if (ids) {
 		for (auto id : ids.get()) {
 			f(id);
 		}
@@ -89,8 +89,8 @@ auto count          = getRegisterCmd.Parameter<int>(1, "count", "amount of regis
 auto timeout        = getRegisterCmd.Parameter<int>(10000, "timeout", "timeout in us");
 
 void runGetValue() {
-	if (not g_id.isSpecified()) throw std::runtime_error("need to specify the target g_id!");
-	if (not read_reg.isSpecified()) throw std::runtime_error("target angle has to be specified!");
+	if (not g_id) throw std::runtime_error("need to specify the target g_id!");
+	if (not read_reg) throw std::runtime_error("target angle has to be specified!");
 
 	auto usb2dyn = dynamixel::USB2Dynamixel(g_baudrate, g_device.get(), dynamixel::Protocol(g_protocolVersion.get()));
 	auto [timeoutFlag, valid, errorCode, rxBuf] = usb2dyn.read(g_id, read_reg, count, std::chrono::microseconds{timeout});