From 19b8271d73b5a99037a1e41e8998352f3ab64565 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sat, 6 Apr 2024 15:08:48 +0800 Subject: [PATCH] =?UTF-8?q?=E7=A7=BB=E9=99=A4=E9=83=A8=E5=88=86=E4=B8=8D?= =?UTF-8?q?=E9=9C=80=E8=A6=81=E7=9A=84=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../mini_servo_motor_ctrl_module.cpp | 3 -- .../mini_servo_motor_ctrl_module.hpp | 1 - .../step_motor_ctrl_module.cpp | 19 ++-------- .../step_motor_ctrl_module.hpp | 3 -- .../zprotocols/zcancmder_v2/api/reg_index.hpp | 37 +------------------ .../zcancmder_v2/api/reg_index_table.cpp | 36 ------------------- .../zprotocols/zcancmder_v2/api/zi_module.hpp | 42 +--------------------- 7 files changed, 5 insertions(+), 136 deletions(-) diff --git a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp index d363339..5173efb 100644 --- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp +++ b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp @@ -278,7 +278,6 @@ int32_t MiniRobotCtrlModule::get_basic_param(basic_param_t ¶m) { } void MiniRobotCtrlModule::call_status_cb(action_cb_status_t cb, int32_t status) { - m_com_reg.module_last_cmd_exec_status = status; if (cb) cb(status); } @@ -300,7 +299,6 @@ int32_t MiniRobotCtrlModule::module_break() { return stop(0); } int32_t MiniRobotCtrlModule::module_get_last_exec_status(int32_t *status) { - *status = m_com_reg.module_last_cmd_exec_status; return 0; } int32_t MiniRobotCtrlModule::module_get_status(int32_t *status) { @@ -343,7 +341,6 @@ int32_t MiniRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t } return 0; } -int32_t MiniRobotCtrlModule::do_action(int32_t actioncode) { return 0; } /******************************************************************************* * Motor * diff --git a/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp b/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp index aa2b607..f65ddd3 100644 --- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp +++ b/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp @@ -103,6 +103,5 @@ class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZI void set_errorcode(int32_t errorcode); int32_t getdpos(int32_t targetpos); int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val); - int32_t do_action(int32_t actioncode); }; } // namespace iflytop diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp index 690ac89..c8390cb 100644 --- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp +++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp @@ -365,7 +365,7 @@ int32_t StepMotorCtrlModule::do_motor_action_block_2(function action, return err::kmodule_opeation_break_by_user; } - return get_last_exec_status(); + return 0; } int32_t StepMotorCtrlModule::do_motor_action_block(function action) { return do_motor_action_block_2(action, nullptr); } @@ -388,7 +388,7 @@ int32_t StepMotorCtrlModule::move_by_block(int32_t dx, int32_t velocity, int ove return do_motor_action_block([this, velocity, dx]() { return move_by(dx, velocity, nullptr); }); } -void StepMotorCtrlModule::call_exec_status_cb(int32_t status, action_cb_status_t status_cb) { m_com_reg.module_last_cmd_exec_status = status; } +void StepMotorCtrlModule::call_exec_status_cb(int32_t status, action_cb_status_t status_cb) {} void StepMotorCtrlModule::create_default_cfg(flash_config_t& cfg) { memset(&cfg, 0, sizeof(cfg)); cfg.base_param.motor_one_circle_pulse = 10000; @@ -444,7 +444,6 @@ int32_t StepMotorCtrlModule::getid(int32_t* id) { int32_t StepMotorCtrlModule::module_stop() { return stop(0); } int32_t StepMotorCtrlModule::module_break() { return stop(0); } int32_t StepMotorCtrlModule::module_get_last_exec_status(int32_t* status) { - *status = m_com_reg.module_last_cmd_exec_status; return 0; } int32_t StepMotorCtrlModule::module_get_status(int32_t* status) { @@ -488,7 +487,6 @@ int32_t StepMotorCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t } return 0; } -int32_t StepMotorCtrlModule::do_action(int32_t actioncode) { return 0; } int32_t StepMotorCtrlModule::module_clear_error() { return 0; } int32_t StepMotorCtrlModule::module_readio(int32_t* io) { *io = 0; @@ -590,14 +588,6 @@ int32_t StepMotorCtrlModule::motor_read_pos(int32_t* pos) { *pos = xnow; return 0; } -void StepMotorCtrlModule::set_last_exec_status(int32_t ecode, int32_t val0, int32_t val1, int32_t val2, int32_t val3, int32_t val4) { - m_com_reg.module_last_cmd_exec_status = ecode; - m_com_reg.module_last_cmd_exec_val0 = val0; - m_com_reg.module_last_cmd_exec_val1 = val1; - m_com_reg.module_last_cmd_exec_val2 = val2; - m_com_reg.module_last_cmd_exec_val3 = val3; - m_com_reg.module_last_cmd_exec_val4 = val4; -} int32_t StepMotorCtrlModule::motor_calculated_pos_by_move_to_zero() { zlock_guard lock(m_lock); @@ -609,10 +599,7 @@ int32_t StepMotorCtrlModule::motor_calculated_pos_by_move_to_zero() { int32_t dx; int32_t erro = _exec_move_to_zero_task(dx); if (erro != 0) { - set_last_exec_status(erro); } else { - m_com_reg.module_last_cmd_exec_status = erro; - set_last_exec_status(erro, -dx + m_param.motor_shift); m_stepM1->setXACTUAL(0); } }, @@ -654,7 +641,7 @@ int32_t StepMotorCtrlModule::motor_easy_move_to_io(int32_t ioindex, int32_t dire int32_t StepMotorCtrlModule::_exec_move_to_io_task(int32_t ioindex, int32_t direction) { m_thread.stop(); - m_thread.start([this, ioindex, direction]() { m_com_reg.module_last_cmd_exec_status = _exec_move_to_io_task_fn(ioindex, direction); }); + m_thread.start([this, ioindex, direction]() { _exec_move_to_io_task_fn(ioindex, direction); }); return 0; } int32_t StepMotorCtrlModule::_exec_move_to_io_task_fn(int32_t ioindex, int32_t direction) { diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp index 3bed942..0f19715 100644 --- a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp +++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp @@ -80,7 +80,6 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor { static uint32_t get_flash_cfg_size() { return sizeof(flash_config_t); } virtual bool isbusy(); - virtual int32_t get_last_exec_status() { return m_com_reg.module_last_cmd_exec_status; }; virtual int32_t move_to_logic_point(int32_t logic_point_num, action_cb_status_t status_cb); virtual int32_t set_logic_point(int logic_point_num, int32_t x, int32_t vel, int32_t acc, int32_t dec); @@ -172,7 +171,6 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor { int32_t _move_by(int32_t dx, action_cb_status_t status_cb); void call_exec_status_cb(int32_t status, action_cb_status_t status_cb); - void set_last_exec_status(int32_t ecode, int32_t val0 = 0, int32_t val1 = 0, int32_t val2 = 0, int32_t val3 = 0, int32_t val4 = 0); private: int32_t _read_io(); @@ -193,7 +191,6 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor { private: int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val); - int32_t do_action(int32_t actioncode); private: /******************************************************************************* diff --git a/components/zprotocols/zcancmder_v2/api/reg_index.hpp b/components/zprotocols/zcancmder_v2/api/reg_index.hpp index d27d13d..16af9f1 100644 --- a/components/zprotocols/zcancmder_v2/api/reg_index.hpp +++ b/components/zprotocols/zcancmder_v2/api/reg_index.hpp @@ -22,42 +22,7 @@ typedef enum { kreg_module_raw_sector_size = REG_INDEX(0, 0, 10), // sector_size kreg_module_raw_sector_num = REG_INDEX(0, 0, 11), // kreg_module_is_online = REG_INDEX(0, 0, 12), // - kreg_module_last_cmd_exec_status = REG_INDEX(0, 0, 20), // 上一条指令执行的状态 - kreg_module_last_cmd_exec_val0 = REG_INDEX(0, 0, 21), // 上一条指令执行的结果0 - kreg_module_last_cmd_exec_val1 = REG_INDEX(0, 0, 22), // 上一条指令执行的结果1 - kreg_module_last_cmd_exec_val2 = REG_INDEX(0, 0, 23), // 上一条指令执行的结果2 - kreg_module_last_cmd_exec_val3 = REG_INDEX(0, 0, 24), // 上一条指令执行的结果3 - kreg_module_last_cmd_exec_val4 = REG_INDEX(0, 0, 25), // 上一条指令执行的结果4 - kreg_module_last_cmd_exec_val5 = REG_INDEX(0, 0, 26), // 上一条指令执行的结果5 - kreg_module_private0 = REG_INDEX(0, 0, 30), // 模块私有状态0 - kreg_module_private1 = REG_INDEX(0, 0, 31), // 模块私有状态1 - kreg_module_private2 = REG_INDEX(0, 0, 32), // 模块私有状态2 - kreg_module_private3 = REG_INDEX(0, 0, 33), // 模块私有状态3 - kreg_module_private4 = REG_INDEX(0, 0, 34), // 模块私有状态4 - kreg_module_private5 = REG_INDEX(0, 0, 35), // 模块私有状态5 - kreg_module_private6 = REG_INDEX(0, 0, 36), // 模块私有状态6 - kreg_module_private7 = REG_INDEX(0, 0, 37), // 模块私有状态7 - kreg_module_private8 = REG_INDEX(0, 0, 38), // 模块私有状态8 - kreg_module_private9 = REG_INDEX(0, 0, 39), // 模块私有状态9 - kreg_module_do_action0 = REG_INDEX(0, 0, 40), // 方法0 - kreg_module_action_param1 = REG_INDEX(0, 0, 41), // 方法1 - kreg_module_action_param2 = REG_INDEX(0, 0, 42), // 方法2 - kreg_module_action_param3 = REG_INDEX(0, 0, 43), // 方法3 - kreg_module_action_param4 = REG_INDEX(0, 0, 44), // 方法4 - kreg_module_action_param5 = REG_INDEX(0, 0, 45), // 方法5 - kreg_module_action_param6 = REG_INDEX(0, 0, 46), // 方法6 - kreg_module_action_param7 = REG_INDEX(0, 0, 47), // 方法7 - kreg_module_action_param8 = REG_INDEX(0, 0, 48), // 方法8 - kreg_module_action_param9 = REG_INDEX(0, 0, 49), // 方法9 - kreg_module_action_ack1 = REG_INDEX(0, 0, 51), // ACK1 - kreg_module_action_ack2 = REG_INDEX(0, 0, 52), // ACK2 - kreg_module_action_ack3 = REG_INDEX(0, 0, 53), // ACK3 - kreg_module_action_ack4 = REG_INDEX(0, 0, 54), // ACK4 - kreg_module_action_ack5 = REG_INDEX(0, 0, 55), // ACK5 - kreg_module_action_ack6 = REG_INDEX(0, 0, 56), // ACK6 - kreg_module_action_ack7 = REG_INDEX(0, 0, 57), // ACK7 - kreg_module_action_ack8 = REG_INDEX(0, 0, 58), // ACK8 - kreg_module_action_ack9 = REG_INDEX(0, 0, 59), // ACK9 + /******************************************************************************* * SENSOR * diff --git a/components/zprotocols/zcancmder_v2/api/reg_index_table.cpp b/components/zprotocols/zcancmder_v2/api/reg_index_table.cpp index 41f0d9c..dc0ecab 100644 --- a/components/zprotocols/zcancmder_v2/api/reg_index_table.cpp +++ b/components/zprotocols/zcancmder_v2/api/reg_index_table.cpp @@ -20,42 +20,6 @@ static reg_index_table_iterm_t iterms[] = { {"module_raw_sector_size", kreg_module_raw_sector_size}, {"module_raw_sector_num", kreg_module_raw_sector_num}, {"module_is_online", kreg_module_is_online}, - {"module_last_cmd_exec_status", kreg_module_last_cmd_exec_status}, - {"module_last_cmd_exec_val0", kreg_module_last_cmd_exec_val0}, - {"module_last_cmd_exec_val1", kreg_module_last_cmd_exec_val1}, - {"module_last_cmd_exec_val2", kreg_module_last_cmd_exec_val2}, - {"module_last_cmd_exec_val3", kreg_module_last_cmd_exec_val3}, - {"module_last_cmd_exec_val4", kreg_module_last_cmd_exec_val4}, - {"module_last_cmd_exec_val5", kreg_module_last_cmd_exec_val5}, - {"module_private0", kreg_module_private0}, - {"module_private1", kreg_module_private1}, - {"module_private2", kreg_module_private2}, - {"module_private3", kreg_module_private3}, - {"module_private4", kreg_module_private4}, - {"module_private5", kreg_module_private5}, - {"module_private6", kreg_module_private6}, - {"module_private7", kreg_module_private7}, - {"module_private8", kreg_module_private8}, - {"module_private9", kreg_module_private9}, - {"module_do_action0", kreg_module_do_action0}, - {"module_action_param1", kreg_module_action_param1}, - {"module_action_param2", kreg_module_action_param2}, - {"module_action_param3", kreg_module_action_param3}, - {"module_action_param4", kreg_module_action_param4}, - {"module_action_param5", kreg_module_action_param5}, - {"module_action_param6", kreg_module_action_param6}, - {"module_action_param7", kreg_module_action_param7}, - {"module_action_param8", kreg_module_action_param8}, - {"module_action_param9", kreg_module_action_param9}, - {"module_action_ack1", kreg_module_action_ack1}, - {"module_action_ack2", kreg_module_action_ack2}, - {"module_action_ack3", kreg_module_action_ack3}, - {"module_action_ack4", kreg_module_action_ack4}, - {"module_action_ack5", kreg_module_action_ack5}, - {"module_action_ack6", kreg_module_action_ack6}, - {"module_action_ack7", kreg_module_action_ack7}, - {"module_action_ack8", kreg_module_action_ack8}, - {"module_action_ack9", kreg_module_action_ack9}, {"sensor_current", kreg_sensor_current}, {"sensor_voltage", kreg_sensor_voltage}, {"sensor_temperature", kreg_sensor_temperature}, diff --git a/components/zprotocols/zcancmder_v2/api/zi_module.hpp b/components/zprotocols/zcancmder_v2/api/zi_module.hpp index dfc8b27..391745b 100644 --- a/components/zprotocols/zcancmder_v2/api/zi_module.hpp +++ b/components/zprotocols/zcancmder_v2/api/zi_module.hpp @@ -46,18 +46,6 @@ using namespace std; PROCESS_REG(kreg_module_initflag, /* */ module_get_inited_flag(&val), module_set_inited_flag(val)); \ PROCESS_REG(kreg_module_errorbitflag0, /* */ REG_GET(m_com_reg.module_errorbitflag0), ACTION_NONE); \ PROCESS_REG(kreg_module_enableflag, /* */ REG_GET(m_com_reg.module_enable), ACTION_NONE); \ - PROCESS_REG(kreg_module_do_action0, /* */ ACTION_NONE, do_action(val)); \ - PROCESS_REG(kreg_module_action_param1, /* */ REG_GET(m_com_reg.module_action_param1), REG_SET(m_com_reg.module_action_param1)); \ - PROCESS_REG(kreg_module_action_param2, /* */ REG_GET(m_com_reg.module_action_param2), REG_SET(m_com_reg.module_action_param2)); \ - PROCESS_REG(kreg_module_action_param3, /* */ REG_GET(m_com_reg.module_action_param3), REG_SET(m_com_reg.module_action_param3)); \ - PROCESS_REG(kreg_module_action_ack1, /* */ REG_GET(m_com_reg.module_action_ack1), ACTION_NONE); \ - PROCESS_REG(kreg_module_action_ack2, /* */ REG_GET(m_com_reg.module_action_ack2), ACTION_NONE); \ - PROCESS_REG(kreg_module_last_cmd_exec_status, /* */ REG_GET(m_com_reg.module_last_cmd_exec_status), ACTION_NONE); \ - PROCESS_REG(kreg_module_last_cmd_exec_val0, /* */ REG_GET(m_com_reg.module_last_cmd_exec_val0), ACTION_NONE); \ - PROCESS_REG(kreg_module_last_cmd_exec_val1, /* */ REG_GET(m_com_reg.module_last_cmd_exec_val1), ACTION_NONE); \ - PROCESS_REG(kreg_module_last_cmd_exec_val2, /* */ REG_GET(m_com_reg.module_last_cmd_exec_val2), ACTION_NONE); \ - PROCESS_REG(kreg_module_last_cmd_exec_val3, /* */ REG_GET(m_com_reg.module_last_cmd_exec_val3), ACTION_NONE); \ - PROCESS_REG(kreg_module_last_cmd_exec_val4, /* */ REG_GET(m_com_reg.module_last_cmd_exec_val4), ACTION_NONE); typedef struct { // int32_t module_version; @@ -65,21 +53,6 @@ typedef struct { int32_t module_errorcode; int32_t module_errorbitflag0; int32_t module_enable; - - int32_t module_last_cmd_exec_status; - int32_t module_last_cmd_exec_val0; - int32_t module_last_cmd_exec_val1; - int32_t module_last_cmd_exec_val2; - int32_t module_last_cmd_exec_val3; - int32_t module_last_cmd_exec_val4; - - int32_t module_do_action0; - int32_t module_action_param1; - int32_t module_action_param2; - int32_t module_action_param3; - int32_t module_action_ack1; - int32_t module_action_ack2; - } module_common_reg_t; class ModuleCMDExecStatus { @@ -156,9 +129,6 @@ class ZIModule { } virtual int32_t module_get_inited_flag() { return m_inited_flag; } - // kmodule_factory_reset = CMDID(1, 14), // para:{}, ack:{} - // kmodule_flush_cfg = CMDID(1, 15), // para:{}, ack:{} - // kmodule_active_cfg = CMDID(1, 16), // para:{}, ack:{} virtual int32_t module_factory_reset() { return err::koperation_not_support; } virtual int32_t module_flush_cfg() { return err::ksucc; } @@ -188,17 +158,7 @@ class ZIModule { return 0; } - virtual int32_t _module_set_exec_status(int32_t status, int32_t val0 = 0, int32_t val1 = 0, int32_t val2 = 0, int32_t val3 = 0, int32_t val4 = 0) { - m_com_reg.module_last_cmd_exec_status = status; - m_com_reg.module_last_cmd_exec_val0 = val0; - m_com_reg.module_last_cmd_exec_val1 = val1; - m_com_reg.module_last_cmd_exec_val2 = val2; - m_com_reg.module_last_cmd_exec_val3 = val3; - m_com_reg.module_last_cmd_exec_val4 = val4; - return 0; - } - public: - virtual int32_t do_action(int32_t actioncode) { return err::kmodule_not_support_action; }; + }; } // namespace iflytop