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a8000_protocol/protocol_proxy.cpp

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  1. #include "protocol_proxy.hpp"
  2. using namespace iflytop;
  4. #define PROXY_IMPL_0X_PARA()
  5. #define PROXY_IMPL_1X_PARA() param[0] = para0;
  6. #define PROXY_IMPL_2X_PARA() \
  7. PROXY_IMPL_1X_PARA(); \
  8. param[1] = para1;
  10. #define PROXY_IMPL_3X_PARA() \
  11. PROXY_IMPL_2X_PARA(); \
  12. param[2] = para2;
  14. #define PROXY_IMPL_4X_PARA() \
  15. PROXY_IMPL_3X_PARA(); \
  16. param[3] = para3;
  18. #define PROXY_IMPL_5X_PARA() \
  19. PROXY_IMPL_4X_PARA(); \
  20. param[4] = para4;
  22. #define PROXY_IMPL_X0_ACK()
  23. #define PROXY_IMPL_X1_ACK() *ack0 = ack[0];
  24. #define PROXY_IMPL_X2_ACK() \
  25. PROXY_IMPL_X1_ACK(); \
  26. *ack1 = ack[1];
  28. #define PROXY_IMPL_X3_ACK() \
  29. PROXY_IMPL_X2_ACK(); \
  30. *ack2 = ack[2];
  32. #define PROXY_IMPL_X4_ACK() \
  33. PROXY_IMPL_X3_ACK(); \
  34. *ack3 = ack[3]
  36. #define PROXY_IMPL_X5_ACK() \
  37. PROXY_IMPL_X4_ACK(); \
  38. *ack4 = ack[4];
  40. #define PROXY_IMPL_XX(cmdindex, paramnum, acknum, paraassign, ackassign) \
  41. int32_t param[1 + paramnum] = {0}; \
  42. int32_t ack[1 + acknum] = {0}; \
  43. paraassign; \
  44. int32_t ecode = m_cancmder->sendCmd(cmdindex, m_id, param, paramnum, ack, acknum, 30); \
  45. ackassign; \
  46. return ecode;
  48. #define PROXY_IMPL_00(cmdindex) PROXY_IMPL_XX(cmdindex, 0, 0, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X0_ACK());
  49. #define PROXY_IMPL_01(cmdindex) PROXY_IMPL_XX(cmdindex, 0, 1, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X1_ACK());
  50. #define PROXY_IMPL_02(cmdindex) PROXY_IMPL_XX(cmdindex, 0, 2, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X2_ACK());
  51. #define PROXY_IMPL_03(cmdindex) PROXY_IMPL_XX(cmdindex, 0, 3, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X3_ACK());
  52. #define PROXY_IMPL_04(cmdindex) PROXY_IMPL_XX(cmdindex, 0, 4, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X4_ACK());
  54. #define PROXY_IMPL_10(cmdindex) PROXY_IMPL_XX(cmdindex, 1, 0, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X0_ACK());
  55. #define PROXY_IMPL_11(cmdindex) PROXY_IMPL_XX(cmdindex, 1, 1, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X1_ACK());
  56. #define PROXY_IMPL_12(cmdindex) PROXY_IMPL_XX(cmdindex, 1, 2, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X2_ACK());
  57. #define PROXY_IMPL_13(cmdindex) PROXY_IMPL_XX(cmdindex, 1, 3, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X3_ACK());
  58. #define PROXY_IMPL_14(cmdindex) PROXY_IMPL_XX(cmdindex, 1, 4, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X4_ACK());
  60. #define PROXY_IMPL_20(cmdindex) PROXY_IMPL_XX(cmdindex, 2, 0, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X0_ACK());
  61. #define PROXY_IMPL_21(cmdindex) PROXY_IMPL_XX(cmdindex, 2, 1, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X1_ACK());
  62. #define PROXY_IMPL_22(cmdindex) PROXY_IMPL_XX(cmdindex, 2, 2, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X2_ACK());
  63. #define PROXY_IMPL_23(cmdindex) PROXY_IMPL_XX(cmdindex, 2, 3, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X3_ACK());
  64. #define PROXY_IMPL_24(cmdindex) PROXY_IMPL_XX(cmdindex, 2, 4, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X4_ACK());
  66. #define PROXY_IMPL_30(cmdindex) PROXY_IMPL_XX(cmdindex, 3, 0, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X0_ACK());
  67. #define PROXY_IMPL_31(cmdindex) PROXY_IMPL_XX(cmdindex, 3, 1, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X1_ACK());
  68. #define PROXY_IMPL_32(cmdindex) PROXY_IMPL_XX(cmdindex, 3, 2, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X2_ACK());
  69. #define PROXY_IMPL_33(cmdindex) PROXY_IMPL_XX(cmdindex, 3, 3, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X3_ACK());
  71. #define PROXY_IMPL_40(cmdindex) PROXY_IMPL_XX(cmdindex, 4, 0, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X0_ACK());
  72. #define PROXY_IMPL_41(cmdindex) PROXY_IMPL_XX(cmdindex, 4, 1, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X1_ACK());
  73. #define PROXY_IMPL_42(cmdindex) PROXY_IMPL_XX(cmdindex, 4, 2, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X2_ACK());
  74. #define PROXY_IMPL_43(cmdindex) PROXY_IMPL_XX(cmdindex, 4, 3, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X3_ACK());
  76. int32_t ZIProtocolProxy::module_stop() { PROXY_IMPL_00(kmodule_stop); }
  77. int32_t ZIProtocolProxy::module_break() { PROXY_IMPL_00(kmodule_break); }
  78. int32_t ZIProtocolProxy::module_get_last_exec_status(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_last_exec_status); }
  79. int32_t ZIProtocolProxy::module_get_status(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_status); }
  81. int32_t ZIProtocolProxy::module_set_param(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmodule_set_param); }
  82. int32_t ZIProtocolProxy::module_get_param(int32_t para0, int32_t *ack0) { PROXY_IMPL_11(kmodule_get_param); }
  84. int32_t ZIProtocolProxy::module_readio(int32_t *ack0) { PROXY_IMPL_01(kmodule_readio); }
  85. int32_t ZIProtocolProxy::module_writeio(int32_t para0) { PROXY_IMPL_10(kmodule_writeio); }
  87. int32_t ZIProtocolProxy::module_read_adc(int32_t para0, int32_t *ack0) { PROXY_IMPL_11(kmodule_read_adc); }
  88. int32_t ZIProtocolProxy::module_get_error(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_error); }
  89. int32_t ZIProtocolProxy::module_clear_error() { PROXY_IMPL_00(kmodule_clear_error); }
  91. int32_t ZIProtocolProxy::module_set_inited_flag(int32_t para0) { PROXY_IMPL_10(kmodule_set_inited_flag); };
  92. int32_t ZIProtocolProxy::module_get_inited_flag(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_inited_flag); };
  94. int32_t ZIProtocolProxy::module_factory_reset() { PROXY_IMPL_00(kmodule_factory_reset); }
  95. int32_t ZIProtocolProxy::module_flush_cfg() { PROXY_IMPL_00(kmodule_flush_cfg); }
  96. int32_t ZIProtocolProxy::module_active_cfg() { PROXY_IMPL_00(kmodule_active_cfg); }
  98. /*******************************************************************************
  99. * ZIMotor *
  100. *******************************************************************************/
  101. int32_t ZIProtocolProxy::motor_enable(int32_t para0) { PROXY_IMPL_10(kmotor_enable); }
  102. int32_t ZIProtocolProxy::motor_rotate(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_rotate); }
  103. int32_t ZIProtocolProxy::motor_move_by(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_by); }
  104. int32_t ZIProtocolProxy::motor_move_to(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to); }
  105. int32_t ZIProtocolProxy::motor_move_to_with_torque(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmotor_move_to_with_torque); }
  107. int32_t ZIProtocolProxy::motor_rotate_acctime(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_rotate_acctime); }
  108. int32_t ZIProtocolProxy::motor_move_by_acctime(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_by_acctime); }
  109. int32_t ZIProtocolProxy::motor_move_to_acctime(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to_acctime); }
  111. int32_t ZIProtocolProxy::motor_move_to_zero_forward(int32_t para0, int32_t para1, int32_t para2, int32_t para3) { PROXY_IMPL_40(kmotor_move_to_zero_forward); }
  112. int32_t ZIProtocolProxy::motor_move_to_zero_backward(int32_t para0, int32_t para1, int32_t para2, int32_t para3) { PROXY_IMPL_40(kmotor_move_to_zero_backward); }
  114. int32_t ZIProtocolProxy::motor_read_pos(int32_t *ack0) { PROXY_IMPL_01(kmotor_read_pos); }
  115. int32_t ZIProtocolProxy::motor_set_current_pos_by_change_shift(int32_t para0) { PROXY_IMPL_10(kmotor_set_current_pos_by_change_shift); }
  117. int32_t ZIProtocolProxy::motor_move_to_zero_forward_and_calculated_shift(int32_t para0, int32_t para1, int32_t para2, int32_t para3) { PROXY_IMPL_40(kmotor_motor_move_to_zero_forward_and_calculated_shift); };
  118. int32_t ZIProtocolProxy::motor_move_to_zero_backward_and_calculated_shift(int32_t para0, int32_t para1, int32_t para2, int32_t para3) { PROXY_IMPL_40(kmotor_motor_move_to_zero_backward_and_calculated_shift); };
  120. /*******************************************************************************
  121. * ZIXYMotor *
  122. *******************************************************************************/
  123. #if 0
  124. virtual int32_t xymotor_enable(int32_t enable) { return err::koperation_not_support; }
  125. virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) { return err::koperation_not_support; }
  126. virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) { return err::koperation_not_support; }
  127. virtual int32_t xymotor_move_to_zero() { return err::koperation_not_support; }
  128. virtual int32_t xymotor_move_to_zero_and_calculated_shift() { return err::koperation_not_support; }
  129. virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) { return err::koperation_not_support; }
  130. #endif
  131. int32_t ZIProtocolProxy::xymotor_enable(int32_t para0) { PROXY_IMPL_10(kxymotor_enable); }
  132. int32_t ZIProtocolProxy::xymotor_move_by(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kxymotor_move_by); }
  133. int32_t ZIProtocolProxy::xymotor_move_to(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kxymotor_move_to); }
  134. int32_t ZIProtocolProxy::xymotor_move_to_zero() { PROXY_IMPL_00(kxymotor_move_to_zero); }
  135. int32_t ZIProtocolProxy::xymotor_move_to_zero_and_calculated_shift() { PROXY_IMPL_00(kxymotor_move_to_zero_and_calculated_shift); }
  136. int32_t ZIProtocolProxy::xymotor_read_pos(int32_t *ack0, int32_t *ack1) { PROXY_IMPL_02(kxymotor_read_pos); }