重构部分代码结构

components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp

@@ -5,9 +5,11 @@
 #include "feite_servo_motor.hpp"
 #include "sdk/components/zprotocols/zcancmder/api/i_mini_servo_module.hpp"
 #include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
+#include "sdk\components\zcancmder\zimodule_impl_v1.hpp"
+
 
 namespace iflytop {
-class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZIMotor {
+class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModuleImplV1, public ZIMotor {
   ENABLE_MODULE(StepMotorCtrlModule, kmini_servo_motor_module, 0x0001);
 
  public:

components/step_motor_ctrl_module/step_motor_ctrl_module.hpp

@@ -3,8 +3,9 @@
 #include "sdk/os/zos.hpp"
 #include "sdk\components\tmc\basic\tmc_ic_interface.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
+#include "sdk\components\zcancmder\zimodule_impl_v1.hpp"
 namespace iflytop {
-class StepMotorCtrlModule : public ZIModule, public ZIMotor {
+class StepMotorCtrlModule : public ZIModuleImplV1, public ZIMotor {
   ENABLE_MODULE(StepMotorCtrlModule, kmotor_module, 0x0001);
 
  public:

components/zcancmder/zcan_board_module.hpp

@@ -9,7 +9,7 @@
 #include "sdk/chip/api/zi_temperature.hpp"
 #include "sdk\chip\api\zi_adc.hpp"
 #include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
-
+#include "sdk\components\zcancmder\zimodule_impl_v1.hpp"
 /**
  * @brief
  *
@@ -30,7 +30,7 @@
 namespace iflytop {
 using namespace std;
 
-class ZCanBoardModule : public ZIModule {
+class ZCanBoardModule : public ZIModuleImplV1 {
  public:
   typedef struct {
     ZGPIO::InputGpioCfg_t  input[32];

components/zcancmder/zimodule_impl_v1.hpp

@@ -0,0 +1,137 @@
+#pragma once
+#include <stdint.h>
+
+#include <functional>
+
+#include "sdk\components\zprotocols\zcancmder_v2\api\zi_module.hpp"
+
+namespace iflytop {
+using namespace std;
+
+#define REG_SET(reg, ...) _module_set_reg(param_id, &reg, val, ##__VA_ARGS__)
+#define REG_GET(reg)      _module_get_reg(param_id, reg, val)
+
+#define REG_SET_FLOAT(reg, precision, ...) _module_set_reg_float(param_id, &reg, val, precision, ##__VA_ARGS__)
+#define REG_GET_FLOAT(reg, precision)      _module_get_reg_float(param_id, reg, val, precision)
+
+#define ACTION_NONE 0
+#define PROCESS_REG(param_id, readaction, writeacton) \
+  case param_id: {                                    \
+    if (read) {                                       \
+      return readaction;                              \
+    } else {                                          \
+      return writeacton;                              \
+    }                                                 \
+  } break;
+
+#define ENABLE_MODULE(name, type, version) \
+  const char *module_name    = #name;      \
+  int32_t     module_version = version;    \
+  int32_t     module_type    = type;
+
+#define MODULE_COMMON_PROCESS_REG_CB()                                                                         \
+  PROCESS_REG(kreg_module_version, /*           */ REG_GET(module_version), ACTION_NONE);                      \
+  PROCESS_REG(kreg_module_type, /*              */ REG_GET(module_type), ACTION_NONE);                         \
+  PROCESS_REG(kreg_module_status, /*            */ module_get_status(&val), ACTION_NONE);                      \
+  PROCESS_REG(kreg_module_errorcode, /*         */ REG_GET(m_com_reg.module_errorcode), ACTION_NONE);          \
+  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);
+
+typedef struct {
+  // int32_t module_version;
+  // int32_t module_type;
+  int32_t module_errorcode;
+  int32_t module_errorbitflag0;
+  int32_t module_enable;
+} module_common_reg_t;
+
+class ZIModuleImplV1 : public ZIModule {
+  int32_t m_inited_flag = 0;
+
+ protected:
+  module_common_reg_t m_com_reg;
+
+ public:
+  virtual ~ZIModuleImplV1() {}
+  virtual int32_t getid() {
+    int32_t id = 0;
+    getid(&id);
+    return id;
+  };
+
+  virtual int32_t getid(int32_t *id) = 0;
+
+  virtual int32_t module_ping() { return 0; };
+
+  virtual int32_t module_stop() { return err::koperation_not_support; }
+  virtual int32_t module_break() { return module_stop(); }
+  virtual int32_t module_start() { return err::koperation_not_support; }
+
+  virtual int32_t module_get_status(int32_t *status) = 0;
+  virtual int32_t module_get_error(int32_t *iserror) {
+    *iserror = m_com_reg.module_errorcode;
+    return 0;
+  }
+  virtual int32_t module_clear_error() {
+    m_com_reg.module_errorcode     = 0;
+    m_com_reg.module_errorbitflag0 = 0;
+    return 0;
+  }
+
+  virtual int32_t module_enable(int32_t enable) { return err::koperation_not_support; }
+
+  virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::koperation_not_support; }
+
+  virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) { return module_xxx_reg(param_id, false, param_value); }
+  virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) { return module_xxx_reg(param_id, true, *param_value); }
+
+  virtual int32_t module_readio(int32_t *io) { return err::koperation_not_support; }
+  virtual int32_t module_writeio(int32_t idindex, int32_t io) { return err::koperation_not_support; }
+
+  virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) { return err::koperation_not_support; }
+
+  virtual int32_t module_read_raw(int32_t index, uint8_t *data, int32_t *len) { return err::koperation_not_support; }
+
+  virtual int32_t module_set_inited_flag(int32_t flag) {
+    m_inited_flag = flag;
+    return 0;
+  }
+  virtual int32_t module_get_inited_flag(int32_t *flag) {
+    *flag = m_inited_flag;
+    return 0;
+  }
+
+  virtual int32_t module_get_inited_flag() { return m_inited_flag; }
+
+  virtual int32_t module_factory_reset() { return err::koperation_not_support; }
+  virtual int32_t module_flush_cfg() { return err::ksucc; }
+  virtual int32_t module_active_cfg() { return err::ksucc; }
+
+  virtual int32_t _module_set_reg(int32_t regoff, int32_t *regval, int32_t val, int32_t min = INT32_MIN, int32_t max = INT32_MAX) {
+    if (val < min || val > max) {
+      return err::kparam_out_of_range;
+    }
+    *regval = val;
+    return 0;
+  }
+  virtual int32_t _module_get_reg(int32_t regoff, int32_t regval, int32_t &val) {
+    val = regval;
+    return 0;
+  }
+
+  virtual int32_t _module_set_reg_float(int32_t regoff, float *regval, int32_t val, float precision, int32_t min = INT32_MIN, int32_t max = INT32_MAX) {
+    if (val < min || val > max) {
+      return err::kparam_out_of_range;
+    }
+    *regval = val * precision;
+    return 0;
+  }
+  virtual int32_t _module_get_reg_float(int32_t regoff, float regval, int32_t &val, float precision) {
+    val = regval / precision;
+    return 0;
+  }
+
+ public:
+};
+}  // namespace iflytop

components/zprotocols/zcancmder_v2/api/zi_module.hpp

@@ -9,134 +9,32 @@
 namespace iflytop {
 using namespace std;
 
-#define REG_SET(reg, ...) _module_set_reg(param_id, &reg, val, ##__VA_ARGS__)
-#define REG_GET(reg)      _module_get_reg(param_id, reg, val)
-
-#define REG_SET_FLOAT(reg, precision, ...) _module_set_reg_float(param_id, &reg, val, precision, ##__VA_ARGS__)
-#define REG_GET_FLOAT(reg, precision)      _module_get_reg_float(param_id, reg, val, precision)
-
-#define ACTION_NONE 0
-#define PROCESS_REG(param_id, readaction, writeacton) \
-  case param_id: {                                    \
-    if (read) {                                       \
-      return readaction;                              \
-    } else {                                          \
-      return writeacton;                              \
-    }                                                 \
-  } break;
-
-
-#define ENABLE_MODULE(name, type, version) \
-  const char *module_name    = #name;      \
-  int32_t     module_version = version;    \
-  int32_t     module_type    = type;
-
-#define MODULE_COMMON_PROCESS_REG_CB()                                                                                                \
-  PROCESS_REG(kreg_module_version, /*           */ REG_GET(module_version), ACTION_NONE);                                             \
-  PROCESS_REG(kreg_module_type, /*              */ REG_GET(module_type), ACTION_NONE);                                                \
-  PROCESS_REG(kreg_module_status, /*            */ module_get_status(&val), ACTION_NONE);                                             \
-  PROCESS_REG(kreg_module_errorcode, /*         */ REG_GET(m_com_reg.module_errorcode), ACTION_NONE);                                 \
-  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);                                    \
-
-typedef struct {
-  // int32_t module_version;
-  // int32_t module_type;
-  int32_t module_errorcode;
-  int32_t module_errorbitflag0;
-  int32_t module_enable;
-} module_common_reg_t;
-
-
-
 class ZIModule {
-  int32_t m_inited_flag = 0;
-
- protected:
-  module_common_reg_t m_com_reg;
-
  public:
   virtual ~ZIModule() {}
 
   virtual int32_t getid(int32_t *id)                                          = 0;
-  virtual int32_t getid() {
-    int32_t id = 0;
-    getid(&id);
-    return id;
-  };
-
-  virtual int32_t module_ping() { return 0; };
-
-  virtual int32_t module_stop() { return err::koperation_not_support; }
-  virtual int32_t module_break() { return module_stop(); }
-  virtual int32_t module_start() { return err::koperation_not_support; }
-
+  virtual int32_t getid()                                                     = 0;
+  virtual int32_t module_ping()                                               = 0;
+  virtual int32_t module_stop()                                               = 0;
+  virtual int32_t module_break()                                              = 0;
+  virtual int32_t module_start()                                              = 0;
   virtual int32_t module_get_status(int32_t *status)                          = 0;
-  virtual int32_t module_get_error(int32_t *iserror) {
-    *iserror = m_com_reg.module_errorcode;
-    return 0;
-  }
-  virtual int32_t module_clear_error() {
-    m_com_reg.module_errorcode     = 0;
-    m_com_reg.module_errorbitflag0 = 0;
-    return 0;
-  }
-
-  virtual int32_t module_enable(int32_t enable) { return err::koperation_not_support; }
-
-  virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::koperation_not_support; }
-
-  virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) { return module_xxx_reg(param_id, false, param_value); }
-  virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) { return module_xxx_reg(param_id, true, *param_value); }
-
-  virtual int32_t module_readio(int32_t *io) { return err::koperation_not_support; }
-  virtual int32_t module_writeio(int32_t idindex, int32_t io) { return err::koperation_not_support; }
-
-  virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) { return err::koperation_not_support; }
-
-  virtual int32_t module_read_raw(int32_t index, uint8_t *data, int32_t *len) { return err::koperation_not_support; }
-
-  virtual int32_t module_set_inited_flag(int32_t flag) {
-    m_inited_flag = flag;
-    return 0;
-  }
-  virtual int32_t module_get_inited_flag(int32_t *flag) {
-    *flag = m_inited_flag;
-    return 0;
-  }
-
-  virtual int32_t module_get_inited_flag() { return m_inited_flag; }
-
-  virtual int32_t module_factory_reset() { return err::koperation_not_support; }
-  virtual int32_t module_flush_cfg() { return err::ksucc; }
-  virtual int32_t module_active_cfg() { return err::ksucc; }
-
-  virtual int32_t _module_set_reg(int32_t regoff, int32_t *regval, int32_t val, int32_t min = INT32_MIN, int32_t max = INT32_MAX) {
-    if (val < min || val > max) {
-      return err::kparam_out_of_range;
-    }
-    *regval = val;
-    return 0;
-  }
-  virtual int32_t _module_get_reg(int32_t regoff, int32_t regval, int32_t &val) {
-    val = regval;
-    return 0;
-  }
-
-  virtual int32_t _module_set_reg_float(int32_t regoff, float *regval, int32_t val, float precision, int32_t min = INT32_MIN, int32_t max = INT32_MAX) {
-    if (val < min || val > max) {
-      return err::kparam_out_of_range;
-    }
-    *regval = val * precision;
-    return 0;
-  }
-  virtual int32_t _module_get_reg_float(int32_t regoff, float regval, int32_t &val, float precision) {
-    val = regval / precision;
-    return 0;
-  }
-
+  virtual int32_t module_get_error(int32_t *iserror)                          = 0;
+  virtual int32_t module_clear_error()                                        = 0;
+  virtual int32_t module_enable(int32_t enable)                               = 0;
+  virtual int32_t module_set_reg(int32_t param_id, int32_t param_value)       = 0;
+  virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value)      = 0;
+  virtual int32_t module_readio(int32_t *io)                                  = 0;
+  virtual int32_t module_writeio(int32_t idindex, int32_t io)                 = 0;
+  virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc)             = 0;
+  virtual int32_t module_read_raw(int32_t index, uint8_t *data, int32_t *len) = 0;
+  virtual int32_t module_set_inited_flag(int32_t flag)                        = 0;
+  virtual int32_t module_get_inited_flag(int32_t *flag)                       = 0;
+  virtual int32_t module_get_inited_flag()                                    = 0;
+  virtual int32_t module_factory_reset()                                      = 0;
+  virtual int32_t module_flush_cfg()                                          = 0;
+  virtual int32_t module_active_cfg()                                         = 0;
  public:
-
 };
 }  // namespace iflytop