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#include "protocol_proxy.hpp"
using namespace iflytop;
#define PROXY_IMPL_0X_PARA()
#define PROXY_IMPL_1X_PARA() param[0] = para0;
#define PROXY_IMPL_2X_PARA() \
PROXY_IMPL_1X_PARA(); \ param[1] = para1;
#define PROXY_IMPL_3X_PARA() \
PROXY_IMPL_2X_PARA(); \ param[2] = para2;
#define PROXY_IMPL_4X_PARA() \
PROXY_IMPL_3X_PARA(); \ param[3] = para3;
#define PROXY_IMPL_5X_PARA() \
PROXY_IMPL_4X_PARA(); \ param[4] = para4;
#define PROXY_IMPL_X0_ACK()
#define PROXY_IMPL_X1_ACK() *ack0 = ack[0];
#define PROXY_IMPL_X2_ACK() \
PROXY_IMPL_X1_ACK(); \ *ack1 = ack[1];
#define PROXY_IMPL_X3_ACK() \
PROXY_IMPL_X2_ACK(); \ *ack2 = ack[2];
#define PROXY_IMPL_X4_ACK() \
PROXY_IMPL_X3_ACK(); \ *ack3 = ack[3]
#define PROXY_IMPL_X5_ACK() \
PROXY_IMPL_X4_ACK(); \ *ack4 = ack[4];
#define PROXY_IMPL_XX(cmdindex, paramnum, acknum, paraassign, ackassign, overtime) \
int32_t param[1 + paramnum] = {0}; \ int32_t ack[1 + acknum] = {0}; \ paraassign; \ int32_t ecode = m_cancmder->sendCmd(cmdindex, m_id, param, paramnum, ack, acknum, overtime); \ ackassign; \ return ecode;
#define PROXY_IMPL_00(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 0, 0, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X0_ACK(), overtime);
#define PROXY_IMPL_01(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 0, 1, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X1_ACK(), overtime);
#define PROXY_IMPL_02(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 0, 2, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X2_ACK(), overtime);
#define PROXY_IMPL_03(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 0, 3, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X3_ACK(), overtime);
#define PROXY_IMPL_04(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 0, 4, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X4_ACK(), overtime);
#define PROXY_IMPL_10(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 1, 0, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X0_ACK(), overtime);
#define PROXY_IMPL_11(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 1, 1, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X1_ACK(), overtime);
#define PROXY_IMPL_12(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 1, 2, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X2_ACK(), overtime);
#define PROXY_IMPL_13(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 1, 3, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X3_ACK(), overtime);
#define PROXY_IMPL_14(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 1, 4, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X4_ACK(), overtime);
#define PROXY_IMPL_20(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 2, 0, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X0_ACK(), overtime);
#define PROXY_IMPL_21(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 2, 1, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X1_ACK(), overtime);
#define PROXY_IMPL_22(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 2, 2, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X2_ACK(), overtime);
#define PROXY_IMPL_23(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 2, 3, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X3_ACK(), overtime);
#define PROXY_IMPL_24(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 2, 4, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X4_ACK(), overtime);
#define PROXY_IMPL_30(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 3, 0, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X0_ACK(), overtime);
#define PROXY_IMPL_31(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 3, 1, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X1_ACK(), overtime);
#define PROXY_IMPL_32(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 3, 2, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X2_ACK(), overtime);
#define PROXY_IMPL_33(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 3, 3, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X3_ACK(), overtime);
#define PROXY_IMPL_40(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 4, 0, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X0_ACK(), overtime);
#define PROXY_IMPL_41(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 4, 1, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X1_ACK(), overtime);
#define PROXY_IMPL_42(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 4, 2, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X2_ACK(), overtime);
#define PROXY_IMPL_43(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 4, 3, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X3_ACK(), overtime);
int32_t ZIProtocolProxy::module_stop() { PROXY_IMPL_00(kmodule_stop, 30); }int32_t ZIProtocolProxy::module_break() { PROXY_IMPL_00(kmodule_break, 30); }int32_t ZIProtocolProxy::module_start() { PROXY_IMPL_00(kmodule_start, 30); }
int32_t ZIProtocolProxy::module_get_last_exec_status(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_last_exec_status, 30); }int32_t ZIProtocolProxy::module_get_status(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_status, 30); }
int32_t ZIProtocolProxy::module_set_reg(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmodule_set_reg, 30); }int32_t ZIProtocolProxy::module_get_reg(int32_t para0, int32_t *ack0) { PROXY_IMPL_11(kmodule_get_reg, 30); }
int32_t ZIProtocolProxy::module_readio(int32_t *ack0) { PROXY_IMPL_01(kmodule_readio, 30); }int32_t ZIProtocolProxy::module_writeio(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmodule_writeio, 30); }
int32_t ZIProtocolProxy::module_read_adc(int32_t para0, int32_t *ack0) { PROXY_IMPL_11(kmodule_read_adc, 30); }int32_t ZIProtocolProxy::module_get_error(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_error, 30); }int32_t ZIProtocolProxy::module_clear_error() { PROXY_IMPL_00(kmodule_clear_error, 30); }
int32_t ZIProtocolProxy::module_set_inited_flag(int32_t para0) { PROXY_IMPL_10(kmodule_set_inited_flag, 30); };int32_t ZIProtocolProxy::module_get_inited_flag(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_inited_flag, 30); };
int32_t ZIProtocolProxy::module_factory_reset() { PROXY_IMPL_00(kmodule_factory_reset, 30); }int32_t ZIProtocolProxy::module_flush_cfg() { PROXY_IMPL_00(kmodule_flush_cfg, 5000); }int32_t ZIProtocolProxy::module_active_cfg() { PROXY_IMPL_00(kmodule_active_cfg, 30); }
int32_t ZIProtocolProxy::module_read_raw(int32_t startadd, uint8_t *data, int32_t *len) { int32_t param[1 + 1] = {0}; param[0] = startadd; int32_t ecode = m_cancmder->sendCmdAndReceiveBuf(kmodule_read_raw, m_id, param, 1, data, len, 100); return ecode;}
int32_t ZIProtocolProxy::module_enable(int32_t para0) { PROXY_IMPL_10(kmodule_enable, 30); }
/*******************************************************************************
* ZIMotor * *******************************************************************************/#if 0
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; } virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; } virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; } virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; } virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; } virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; } virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; } virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; } virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; } virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // һ�����ڶ���
virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
#endif
int32_t ZIProtocolProxy::motor_enable(int32_t para0) { PROXY_IMPL_10(kmotor_enable, 30); }int32_t ZIProtocolProxy::motor_rotate(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_rotate, 30); }int32_t ZIProtocolProxy::motor_move_by(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_by, 30); }int32_t ZIProtocolProxy::motor_move_to(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to, 30); }int32_t ZIProtocolProxy::motor_rotate_with_torque(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmotor_rotate_with_torque, 30); }
int32_t ZIProtocolProxy::motor_rotate_acctime(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_rotate_acctime, 30); }int32_t ZIProtocolProxy::motor_move_by_acctime(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_by_acctime, 30); }int32_t ZIProtocolProxy::motor_move_to_acctime(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to_acctime, 30); }
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, 30); }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, 30); }
int32_t ZIProtocolProxy::motor_read_pos(int32_t *ack0) { PROXY_IMPL_01(kmotor_read_pos, 30); }int32_t ZIProtocolProxy::motor_set_current_pos_by_change_shift(int32_t para0) { PROXY_IMPL_10(kmotor_set_current_pos_by_change_shift, 30); }
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, 30); };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, 30); };
int32_t ZIProtocolProxy::motor_move_to_torque(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to_torque, 30); }int32_t ZIProtocolProxy::motor_calculated_pos_by_move_to_zero() { PROXY_IMPL_00(kmotor_calculated_pos_by_move_to_zero, 30); }
/*******************************************************************************
* ZIXYMotor * *******************************************************************************/#if 0
virtual ~ZIXYMotor() {} virtual int32_t xymotor_enable(int32_t enable) { return err::koperation_not_support; } virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) { return err::koperation_not_support; } virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) { return err::koperation_not_support; } virtual int32_t xymotor_move_to_zero() { return err::koperation_not_support; } virtual int32_t xymotor_move_to_zero_and_calculated_shift() { return err::koperation_not_support; } virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) { return err::koperation_not_support; } virtual int32_t xymotor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }#endif
int32_t ZIProtocolProxy::xymotor_enable(int32_t para0) { PROXY_IMPL_10(kxymotor_enable, 30); }int32_t ZIProtocolProxy::xymotor_move_by(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kxymotor_move_by, 30); }int32_t ZIProtocolProxy::xymotor_move_to(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kxymotor_move_to, 30); }int32_t ZIProtocolProxy::xymotor_move_to_zero() { PROXY_IMPL_00(kxymotor_move_to_zero, 30); }int32_t ZIProtocolProxy::xymotor_move_to_zero_and_calculated_shift() { PROXY_IMPL_00(kxymotor_move_to_zero_and_calculated_shift, 30); }int32_t ZIProtocolProxy::xymotor_read_pos(int32_t *ack0, int32_t *ack1) { PROXY_IMPL_02(kxymotor_read_pos, 30); }int32_t ZIProtocolProxy::xymotor_calculated_pos_by_move_to_zero() { PROXY_IMPL_00(kxymotor_calculated_pos_by_move_to_zero, 30); }
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