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移除部分不需要的代码

master
zhaohe 1 year ago
parent
42e9503551
commit
19b8271d73
7 changed files with 5 additions and 136 deletions
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  1. 3
      components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
  2. 1
      components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
  3. 19
      components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
  4. 3
      components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
  5. 37
      components/zprotocols/zcancmder_v2/api/reg_index.hpp
  6. 36
      components/zprotocols/zcancmder_v2/api/reg_index_table.cpp
  7. 42
      components/zprotocols/zcancmder_v2/api/zi_module.hpp

3
components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
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@ -278,7 +278,6 @@ int32_t MiniRobotCtrlModule::get_basic_param(basic_param_t &param) {
} }
void MiniRobotCtrlModule::call_status_cb(action_cb_status_t cb, int32_t status) { 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); if (cb) cb(status);
} }
@ -300,7 +299,6 @@ int32_t MiniRobotCtrlModule::module_break() {
return stop(0); return stop(0);
} }
int32_t MiniRobotCtrlModule::module_get_last_exec_status(int32_t *status) { int32_t MiniRobotCtrlModule::module_get_last_exec_status(int32_t *status) {
*status = m_com_reg.module_last_cmd_exec_status;
return 0; return 0;
} }
int32_t MiniRobotCtrlModule::module_get_status(int32_t *status) { 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; return 0;
} }
int32_t MiniRobotCtrlModule::do_action(int32_t actioncode) { return 0; }
/******************************************************************************* /*******************************************************************************
* Motor * * Motor *

1
components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
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@ -103,6 +103,5 @@ class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZI
void set_errorcode(int32_t errorcode); void set_errorcode(int32_t errorcode);
int32_t getdpos(int32_t targetpos); int32_t getdpos(int32_t targetpos);
int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val); int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val);
int32_t do_action(int32_t actioncode);
}; };
} // namespace iflytop } // namespace iflytop

19
components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
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@ -365,7 +365,7 @@ int32_t StepMotorCtrlModule::do_motor_action_block_2(function<int32_t()> action,
return err::kmodule_opeation_break_by_user; return err::kmodule_opeation_break_by_user;
} }
return get_last_exec_status();
return 0;
} }
int32_t StepMotorCtrlModule::do_motor_action_block(function<int32_t()> action) { return do_motor_action_block_2(action, nullptr); } int32_t StepMotorCtrlModule::do_motor_action_block(function<int32_t()> 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); }); 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) { void StepMotorCtrlModule::create_default_cfg(flash_config_t& cfg) {
memset(&cfg, 0, sizeof(cfg)); memset(&cfg, 0, sizeof(cfg));
cfg.base_param.motor_one_circle_pulse = 10000; 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_stop() { return stop(0); }
int32_t StepMotorCtrlModule::module_break() { return stop(0); } int32_t StepMotorCtrlModule::module_break() { return stop(0); }
int32_t StepMotorCtrlModule::module_get_last_exec_status(int32_t* status) { int32_t StepMotorCtrlModule::module_get_last_exec_status(int32_t* status) {
*status = m_com_reg.module_last_cmd_exec_status;
return 0; return 0;
} }
int32_t StepMotorCtrlModule::module_get_status(int32_t* status) { 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; return 0;
} }
int32_t StepMotorCtrlModule::do_action(int32_t actioncode) { return 0; }
int32_t StepMotorCtrlModule::module_clear_error() { return 0; } int32_t StepMotorCtrlModule::module_clear_error() { return 0; }
int32_t StepMotorCtrlModule::module_readio(int32_t* io) { int32_t StepMotorCtrlModule::module_readio(int32_t* io) {
*io = 0; *io = 0;
@ -590,14 +588,6 @@ int32_t StepMotorCtrlModule::motor_read_pos(int32_t* pos) {
*pos = xnow; *pos = xnow;
return 0; 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() { int32_t StepMotorCtrlModule::motor_calculated_pos_by_move_to_zero() {
zlock_guard lock(m_lock); zlock_guard lock(m_lock);
@ -609,10 +599,7 @@ int32_t StepMotorCtrlModule::motor_calculated_pos_by_move_to_zero() {
int32_t dx; int32_t dx;
int32_t erro = _exec_move_to_zero_task(dx); int32_t erro = _exec_move_to_zero_task(dx);
if (erro != 0) { if (erro != 0) {
set_last_exec_status(erro);
} else { } else {
m_com_reg.module_last_cmd_exec_status = erro;
set_last_exec_status(erro, -dx + m_param.motor_shift);
m_stepM1->setXACTUAL(0); 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) { int32_t StepMotorCtrlModule::_exec_move_to_io_task(int32_t ioindex, int32_t direction) {
m_thread.stop(); 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; return 0;
} }
int32_t StepMotorCtrlModule::_exec_move_to_io_task_fn(int32_t ioindex, int32_t direction) { int32_t StepMotorCtrlModule::_exec_move_to_io_task_fn(int32_t ioindex, int32_t direction) {

3
components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
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@ -80,7 +80,6 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor {
static uint32_t get_flash_cfg_size() { return sizeof(flash_config_t); } static uint32_t get_flash_cfg_size() { return sizeof(flash_config_t); }
virtual bool isbusy(); 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 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); 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); 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 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: private:
int32_t _read_io(); int32_t _read_io();
@ -193,7 +191,6 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor {
private: private:
int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val); int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val);
int32_t do_action(int32_t actioncode);
private: private:
/******************************************************************************* /*******************************************************************************

37
components/zprotocols/zcancmder_v2/api/reg_index.hpp
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@ -22,42 +22,7 @@ typedef enum {
kreg_module_raw_sector_size = REG_INDEX(0, 0, 10), // sector_size kreg_module_raw_sector_size = REG_INDEX(0, 0, 10), // sector_size
kreg_module_raw_sector_num = REG_INDEX(0, 0, 11), // kreg_module_raw_sector_num = REG_INDEX(0, 0, 11), //
kreg_module_is_online = REG_INDEX(0, 0, 12), // 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 * * SENSOR *

36
components/zprotocols/zcancmder_v2/api/reg_index_table.cpp
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@ -20,42 +20,6 @@ static reg_index_table_iterm_t iterms[] = {
{"module_raw_sector_size", kreg_module_raw_sector_size}, {"module_raw_sector_size", kreg_module_raw_sector_size},
{"module_raw_sector_num", kreg_module_raw_sector_num}, {"module_raw_sector_num", kreg_module_raw_sector_num},
{"module_is_online", kreg_module_is_online}, {"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_current", kreg_sensor_current},
{"sensor_voltage", kreg_sensor_voltage}, {"sensor_voltage", kreg_sensor_voltage},
{"sensor_temperature", kreg_sensor_temperature}, {"sensor_temperature", kreg_sensor_temperature},

42
components/zprotocols/zcancmder_v2/api/zi_module.hpp
View File

@ -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_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_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_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 { typedef struct {
// int32_t module_version; // int32_t module_version;
@ -65,21 +53,6 @@ typedef struct {
int32_t module_errorcode; int32_t module_errorcode;
int32_t module_errorbitflag0; int32_t module_errorbitflag0;
int32_t module_enable; 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; } module_common_reg_t;
class ModuleCMDExecStatus { class ModuleCMDExecStatus {
@ -156,9 +129,6 @@ class ZIModule {
} }
virtual int32_t module_get_inited_flag() { return m_inited_flag; } 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_factory_reset() { return err::koperation_not_support; }
virtual int32_t module_flush_cfg() { return err::ksucc; } virtual int32_t module_flush_cfg() { return err::ksucc; }
@ -188,17 +158,7 @@ class ZIModule {
return 0; 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: public:
virtual int32_t do_action(int32_t actioncode) { return err::kmodule_not_support_action; };
}; };
} // namespace iflytop } // namespace iflytop
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