update

.project/cmake/deps.cmake

@@ -12,3 +12,4 @@ include(${CMAKE_SOURCE_DIR}/dep/zlinuxcomponents/aiui_ws/module.cmake)
 include(
   ${CMAKE_SOURCE_DIR}/dep/zlinuxcomponents/iflytop_can_protocol_stack/module.cmake
 )
+include(${CMAKE_SOURCE_DIR}/dep/zlinuxcomponents/i2c/module.cmake)

.project/cmake/target.cmake

@@ -20,3 +20,5 @@ zadd_executable_simple(
 # zadd_executable_simple(TARGET test_can.out SRC src/test/test_can.cpp)
 zadd_executable_simple(TARGET dump_can_driver_info.out SRC
                        src/test/dump_can_driver_info.cpp)
+zadd_executable_simple(TARGET test_i2c_eeprom.out SRC  src/test/test_i2c_eeprom.cpp)
+                       

dep/zlinuxcomponents

@@ -1 +1 @@
-Subproject commit 52d35b4005bf9f24d571a850d47fa7926e98c7fa
+Subproject commit 30d516c35407b43df206927af3734a42a1abdd10

src/service/host_hardware_device_service.cpp

@@ -0,0 +1,7 @@
+#include "host_hardware_device_service.hpp"
+
+using namespace iflytop;
+using namespace core;
+
+HostHardwareDeviceService::HostHardwareDeviceService(){};
+void HostHardwareDeviceService::initialize() {}

src/service/host_hardware_device_service.hpp

@@ -0,0 +1,47 @@
+//
+// Created by zwsd
+//
+
+#pragma once
+#include <fstream>
+#include <iostream>
+#include <list>
+#include <map>
+#include <memory>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include "iflytopcpp/core/spdlogfactory/logger.hpp"
+#include "iflytopcpp/core/thread/thread.hpp"
+//
+#include "zlinuxcomponents/iflytop_can_protocol_stack/iflytop_can_protocol_controler.hpp"
+#include "zlinuxcomponents/iflytop_can_protocol_stack/iflytop_virtual_can_slave.hpp"
+/**
+ * @brief
+ *
+ * service: HostHardwareDeviceService
+ *
+ * 监听事件:
+ * 依赖状态:
+ * 依赖服务:
+ * 作用:
+ *
+ */
+
+namespace iflytop {
+using namespace std;
+using namespace core;
+class HostHardwareDeviceService : public enable_shared_from_this<HostHardwareDeviceService> {
+  ENABLE_LOGGER(HostHardwareDeviceService);
+
+  shared_ptr<IflytopVirtualCanSlave>      m_localVirtualCanSlave;  // Controler本身也作为一个从机存在
+  shared_ptr<IflytopCanProtocolControler> m_iflytopCanProtocolControler;
+
+ public:
+  HostHardwareDeviceService();
+
+  void initialize();
+};
+}  // namespace iflytop

src/service/main_control_service.cpp

@@ -13,26 +13,9 @@ void MainControlService::initialize() {
   localVirtualCanSlaveInitialize();
   iflytopCanProtocolControler.reset(new IflytopCanProtocolControler());
   iflytopCanProtocolControler->initialize(m_zconfig->get_pipettingRobotCanIFName(), m_zconfig->get_iflytopSubDeviceCanBitrate(), false);
-  iflytopCanProtocolControler->addVirtualCanSlave(m_localVirtualCanSlave);
   iflytopCanProtocolControler->start();
 };
 
 void MainControlService::localVirtualCanSlaveInitialize() {
-  m_localVirtualCanSlave.reset(new IflytopVirtualCanSlave());
-  m_localVirtualCanSlave->initialize(LINUX_HARDWARE_ID);
-  m_localVirtualCanSlave->activeReg(REG_REBOOT_FLAG, icps::kw | icps::kr, 0);
-  m_localVirtualCanSlave->activeReg(REG_DEVICE_ID, icps::kr, LINUX_HARDWARE_ID);
-  m_localVirtualCanSlave->activeReg(REG_EXCEPTION_FLAG, icps::kw | icps::kr, 0);
-  m_localVirtualCanSlave->setOnHostRegisterReadEvent(  //
-      [this](icps::Reg_t& reg, int32_t& value) {       //
-        return icps::kSuccess;
-      });
-  m_localVirtualCanSlave->setOnHostRegisterWriteEvent(                 //
-      [this](icps::Reg_t& reg, int32_t oldvalue, int32_t& newvalue) {  //
-        return icps::kSuccess;
-      });
-  m_localVirtualCanSlave->setOnRegisterValueAutoReportEvent(  //
-      [this](icps::Reg_t& reg, int32_t& value) {              //
-        return;
-      });
+
 }

src/service/main_control_service.hpp

@@ -47,7 +47,6 @@ class MainControlService : public enable_shared_from_this<MainControlService> {
 
   shared_ptr<GConfig>          m_zconfig;
 
-  shared_ptr<IflytopVirtualCanSlave>      m_localVirtualCanSlave;
   shared_ptr<IflytopCanProtocolControler> iflytopCanProtocolControler;
 
  public:

src/test/test_i2c_eeprom.cpp

@@ -0,0 +1,63 @@
+#include <stdio.h>
+
+#include "zlinuxcomponents/zmainhelper.hpp"
+//
+#include "iflytopcpp/core/spdlogfactory/logger.hpp"
+#include "iflytopcpp/core/thread/thread.hpp"
+#include "spdlog/spdlog.h"
+//
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <net/if.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include "zlinuxcomponents/i2c/i2c_bus.hpp"
+#include "zlinuxcomponents/i2c/m24lr64e.hpp"
+
+using namespace iflytop;
+using namespace core;
+using namespace std;
+using namespace clipp;
+
+/***********************************************************************/
+/***********************************************************************/
+/***********************************************************************/
+/***********************************************************************/
+class Main {
+  ENABLE_LOGGER(Main);
+  unique_ptr<Thread> thread;
+
+  shared_ptr<I2CBus>   m_i2c_bus  = nullptr;
+  shared_ptr<M24LR64E> m_m24lr64e = nullptr;
+
+ public:
+  Main(/* args */) {}
+  ~Main() {}
+  void run(int argc, char* argv[]) {
+    thread.reset(new Thread("main", [&]() { exit(main(argc, argv)); }));
+    while (true) sleep(1000);
+  }
+  void onSIGINT() { exit(0); }
+  int  main(int argCount, char* argValues[]) {  //
+    m_i2c_bus.reset(new I2CBus());
+    m_m24lr64e.reset(new M24LR64E());
+
+    m_i2c_bus->open("/dev/i2c-1");
+    m_m24lr64e->initialize(m_i2c_bus);
+
+    m_m24lr64e->dump_eeprom();
+    logger->info("dump eeprom done");
+
+    return 0;
+  }
+};
+MAIN_ENTRY();
+// ip link set can0 down
+// ip link set can0 type can bitrate 500000
+// ip link set can0 up