a8000_protocol/zmodule_device_manager.cpp

#include "zmodule_device_manager.hpp"
using namespace iflytop;
using namespace std;

#define PROXY_IMPL(type, functionName, ...)       \
  type   *module = nullptr;                       \
  int32_t ecode  = findModule<type>(id, &module); \
  if (ecode != 0) {                               \
    return ecode;                                 \
  }                                               \
  return module->functionName(__VA_ARGS__);
/*******************************************************************************
 *                                  ZIModule                                   *
 *******************************************************************************/
int32_t ZModuleDeviceManager::stop(uint16_t id) { PROXY_IMPL(ZIModule, stop); }
int32_t ZModuleDeviceManager::brake(uint16_t id) { PROXY_IMPL(ZIModule, brake); }
int32_t ZModuleDeviceManager::get_last_exec_status(uint16_t id, int32_t *ack0) { PROXY_IMPL(ZIModule, get_last_exec_status, ack0); }
int32_t ZModuleDeviceManager::get_status(uint16_t id, int32_t *status) { PROXY_IMPL(ZIModule, get_status, status); }
int32_t ZModuleDeviceManager::set_param(uint16_t id, int32_t param_id, int32_t param_value) { PROXY_IMPL(ZIModule, set_param, param_id, param_value); }
int32_t ZModuleDeviceManager::get_param(uint16_t id, int32_t param_id, int32_t *param_value) { PROXY_IMPL(ZIModule, get_param, param_id, param_value); }
int32_t ZModuleDeviceManager::readio(uint16_t id, int32_t *io) { PROXY_IMPL(ZIModule, readio, io); }
int32_t ZModuleDeviceManager::writeio(uint16_t id, int32_t io) { PROXY_IMPL(ZIModule, writeio, io); }
int32_t ZModuleDeviceManager::read_adc(uint16_t id, int adcindex, int32_t *adc) { PROXY_IMPL(ZIModule, read_adc, adcindex, adc); }
/*******************************************************************************
 *                                   ZIMotor                                   *
 *******************************************************************************/
int32_t ZModuleDeviceManager::motor_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIMotor, motor_enable, enable); }
int32_t ZModuleDeviceManager::motor_rotate(uint16_t id, int32_t direction, int32_t velocitylevel) { PROXY_IMPL(ZIMotor, motor_rotate, direction, velocitylevel); }
int32_t ZModuleDeviceManager::motor_move_by(uint16_t id, int32_t distance, int32_t velocitylevel) { PROXY_IMPL(ZIMotor, motor_move_by, distance, velocitylevel); }
int32_t ZModuleDeviceManager::motor_move_to(uint16_t id, int32_t position, int32_t velocitylevel) { PROXY_IMPL(ZIMotor, motor_move_to, position, velocitylevel); }
int32_t ZModuleDeviceManager::motor_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque) { PROXY_IMPL(ZIMotor, motor_move_to_with_torque, pos, torque); }
/*******************************************************************************
 *                                  ZIXYMotor                                  *
 *******************************************************************************/
int32_t ZModuleDeviceManager::xymotor_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIXYMotor, xymotor_enable, enable); }
int32_t ZModuleDeviceManager::xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t velocitylevel) { PROXY_IMPL(ZIXYMotor, xymotor_move_by, dx, dy, velocitylevel); }
int32_t ZModuleDeviceManager::xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t velocitylevel) { PROXY_IMPL(ZIXYMotor, xymotor_move_to, x, y, velocitylevel); }