a8000_protocol/zmodule_device_manager.hpp

#pragma once
#include <map>

#include "api/api.hpp"
#include "api\i_zcan_cmder_master.hpp"
#include "cmdid.hpp"

namespace iflytop {
class ZModuleDeviceManager {
 private:
  map<uint16_t, ZIModule *> m_modulers;
  IZcanCmderMaster         *m_cancmder = nullptr;

 public:
  void initialize();
  void registerModule(uint16_t id, ZIModule *module);
  /*******************************************************************************
   *                                  ZIModule                                   *
   *******************************************************************************/
  int32_t module_stop(uint16_t id);
  int32_t module_break(uint16_t id);

  int32_t module_get_last_exec_status(uint16_t id, int32_t *status);
  int32_t module_get_status(uint16_t id, int32_t *status);

  int32_t module_set_param(uint16_t id, int32_t param_id, int32_t param_value);
  int32_t module_get_param(uint16_t id, int32_t param_id, int32_t *param_value);

  int32_t module_readio(uint16_t id, int32_t *io);
  int32_t module_writeio(uint16_t id, int32_t io);

  int32_t module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc);

  int32_t module_get_error(uint16_t id, int32_t *iserror);
  int32_t module_clear_error(uint16_t id);

  int32_t module_set_inited_flag(uint16_t id, int32_t flag);
  int32_t module_get_inited_flag(uint16_t id, int32_t *flag);

  /*******************************************************************************
   *                                   ZIMotor                                   *
   *******************************************************************************/

  int32_t motor_enable(uint16_t id, int32_t enable);
  int32_t motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc);
  int32_t motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc);
  int32_t motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc);
  int32_t motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime);
  int32_t motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime);
  int32_t motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime);
  int32_t motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
  int32_t motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
  int32_t motor_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque);
  int32_t motor_read_pos(uint16_t id, int32_t *pos);
  int32_t motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos);

  /*******************************************************************************
   *                                  ZIXYMotor                                  *
   *******************************************************************************/
  int32_t xymotor_enable(uint16_t id, int32_t enable);
  int32_t xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t motor_velocity);
  int32_t xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t motor_velocity);

 private:
  template <typename T>
  int32_t findModule(uint16_t id, T **module) {
    auto it = m_modulers.find(id);
    if (it == m_modulers.end()) {
      return err::kmodule_not_found;
    }
    T *_module = dynamic_cast<T *>(it->second);
    if (_module == nullptr) {
      return err::koperation_not_support;
    }
    *module = _module;
    return 0;
  }
};

}  // namespace iflytop