a8000_protocol/zmodule_device_manager.cpp

#include "zmodule_device_manager.hpp"

#include <assert.h>
#include <stdio.h>
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__);

void ZModuleDeviceManager::initialize(IZcanCmderMaster *cancmder) {
  m_cancmder = cancmder;
  assert(m_cancmder != nullptr);

  m_cancmder->regEventPacketListener([this](int32_t fromboard, zcr_cmd_header_t *packet, int32_t datalen) {
    if (datalen < 4) return;

    int32_t *pdata = (int32_t *)packet->data;
    int32_t  event = pdata[0];
    if (event == kreg_change_event) {
      int32_t moduleid = pdata[1];
      int32_t event_id = pdata[2];
      int32_t eventval = pdata[3];
      callOnRegValChangeEvent(moduleid, event_id, eventval);
    }
  });
}
void ZModuleDeviceManager::registerModule(ZIModule *module) {
  assert(module != nullptr);
  int32_t id = 0;
  module->getid(&id);
  uint16_t id16    = id;
  m_modulers[id16] = module;
}

/*******************************************************************************
 *                                  ZIModule                                   *
 *******************************************************************************/
int32_t ZModuleDeviceManager::module_stop(uint16_t id) { PROXY_IMPL(ZIModule, module_stop); }
int32_t ZModuleDeviceManager::module_break(uint16_t id) { PROXY_IMPL(ZIModule, module_break); }
int32_t ZModuleDeviceManager::module_get_last_exec_status(uint16_t id, int32_t *ack0) { PROXY_IMPL(ZIModule, module_get_last_exec_status, ack0); }
int32_t ZModuleDeviceManager::module_get_status(uint16_t id, int32_t *status) { PROXY_IMPL(ZIModule, module_get_status, status); }
int32_t ZModuleDeviceManager::module_set_reg(uint16_t id, int32_t param_id, int32_t param_value) {
  PROXY_IMPL(ZIModule, module_set_reg, param_id, param_value);
}
int32_t ZModuleDeviceManager::module_get_reg(uint16_t id, int32_t param_id, int32_t *param_value) {
  PROXY_IMPL(ZIModule, module_get_reg, param_id, param_value);
}
int32_t ZModuleDeviceManager::module_readio(uint16_t id, int32_t *io) { PROXY_IMPL(ZIModule, module_readio, io); }
int32_t ZModuleDeviceManager::module_writeio(uint16_t id, int32_t ioindex, int32_t io) { PROXY_IMPL(ZIModule, module_writeio, ioindex, io); }
int32_t ZModuleDeviceManager::module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc) { PROXY_IMPL(ZIModule, module_read_adc, adcindex, adc); }
int32_t ZModuleDeviceManager::module_get_error(uint16_t id, int32_t *iserror) { PROXY_IMPL(ZIModule, module_get_error, iserror); }
int32_t ZModuleDeviceManager::module_clear_error(uint16_t id) { PROXY_IMPL(ZIModule, module_clear_error); }
int32_t ZModuleDeviceManager::module_set_inited_flag(uint16_t id, int32_t flag) { PROXY_IMPL(ZIModule, module_set_inited_flag, flag); }
int32_t ZModuleDeviceManager::module_get_inited_flag(uint16_t id, int32_t *flag) { PROXY_IMPL(ZIModule, module_get_inited_flag, flag); }
int32_t ZModuleDeviceManager::module_factory_reset(uint16_t id) { PROXY_IMPL(ZIModule, module_factory_reset); }
int32_t ZModuleDeviceManager::module_flush_cfg(uint16_t id) { PROXY_IMPL(ZIModule, module_flush_cfg); }
int32_t ZModuleDeviceManager::module_active_cfg(uint16_t id) { PROXY_IMPL(ZIModule, module_active_cfg); }
int32_t ZModuleDeviceManager::module_read_raw(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len) {
  PROXY_IMPL(ZIModule, module_read_raw, startadd, data, len);
}
int32_t ZModuleDeviceManager::module_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIModule, module_enable, enable); }
int32_t ZModuleDeviceManager::module_start(uint16_t id) { PROXY_IMPL(ZIModule, module_start); }

/*******************************************************************************
 *                                   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 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 motor_velocity, int32_t acc) {
  PROXY_IMPL(ZIMotor, motor_rotate, direction, motor_velocity, acc);
}
int32_t ZModuleDeviceManager::motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc) {
  PROXY_IMPL(ZIMotor, motor_move_by, distance, motor_velocity, acc);
}
int32_t ZModuleDeviceManager::motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc) {
  PROXY_IMPL(ZIMotor, motor_move_to, position, motor_velocity, acc);
}
int32_t ZModuleDeviceManager::motor_rotate_with_torque(uint16_t id, int32_t direction, int32_t torque) {
  PROXY_IMPL(ZIMotor, motor_rotate_with_torque, direction, torque);
}
int32_t ZModuleDeviceManager::motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime) {
  PROXY_IMPL(ZIMotor, motor_rotate_acctime, direction, motor_velocity, acctime);
}
int32_t ZModuleDeviceManager::motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime) {
  PROXY_IMPL(ZIMotor, motor_move_by_acctime, distance, motor_velocity, acctime);
}
int32_t ZModuleDeviceManager::motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime) {
  PROXY_IMPL(ZIMotor, motor_move_to_acctime, position, motor_velocity, acctime);
}
int32_t ZModuleDeviceManager::motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) {
  PROXY_IMPL(ZIMotor, motor_move_to_zero_forward, findzerospeed, findzeroedge_speed, acc, overtime);
}
int32_t ZModuleDeviceManager::motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) {
  PROXY_IMPL(ZIMotor, motor_move_to_zero_backward, findzerospeed, findzeroedge_speed, acc, overtime);
}
int32_t ZModuleDeviceManager::motor_read_pos(uint16_t id, int32_t *pos) { PROXY_IMPL(ZIMotor, motor_read_pos, pos); }
int32_t ZModuleDeviceManager::motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos) {
  PROXY_IMPL(ZIMotor, motor_set_current_pos_by_change_shift, pos);
}
int32_t ZModuleDeviceManager::motor_move_to_zero_forward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc,
                                                                              int32_t overtime) {
  PROXY_IMPL(ZIMotor, motor_move_to_zero_forward_and_calculated_shift, findzerospeed, findzeroedge_speed, acc, overtime);
}
int32_t ZModuleDeviceManager::motor_move_to_zero_backward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc,
                                                                               int32_t overtime) {
  PROXY_IMPL(ZIMotor, motor_move_to_zero_backward_and_calculated_shift, findzerospeed, findzeroedge_speed, acc, overtime);
}
int32_t ZModuleDeviceManager::motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime) {
  PROXY_IMPL(ZIMotor, motor_move_to_torque, pos, torque, overtime);
}
int32_t ZModuleDeviceManager::motor_calculated_pos_by_move_to_zero(uint16_t id) { PROXY_IMPL(ZIMotor, motor_calculated_pos_by_move_to_zero); }
/*******************************************************************************
 *                                  ZIXYMotor                                  *
 *******************************************************************************/
#if 0
  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; }
#endif
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 motor_velocity) {
  PROXY_IMPL(ZIXYMotor, xymotor_move_by, dx, dy, motor_velocity);
}
int32_t ZModuleDeviceManager::xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t motor_velocity) {
  PROXY_IMPL(ZIXYMotor, xymotor_move_to, x, y, motor_velocity);
}
int32_t ZModuleDeviceManager::xymotor_move_to_zero(uint16_t id) { PROXY_IMPL(ZIXYMotor, xymotor_move_to_zero); }
int32_t ZModuleDeviceManager::xymotor_move_to_zero_and_calculated_shift(uint16_t id) { PROXY_IMPL(ZIXYMotor, xymotor_move_to_zero_and_calculated_shift); }
int32_t ZModuleDeviceManager::xymotor_read_pos(uint16_t id, int32_t *x, int32_t *y) { PROXY_IMPL(ZIXYMotor, xymotor_read_pos, x, y); }
int32_t ZModuleDeviceManager::xymotor_calculated_pos_by_move_to_zero(uint16_t id) { PROXY_IMPL(ZIXYMotor, xymotor_calculated_pos_by_move_to_zero); }

#if 0
  virtual int32_t code_scaner_start_scan(uint16_t id);
  virtual int32_t code_scaner_stop_scan(uint16_t id);
  virtual int32_t code_scaner_read_scaner_result(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len);
#endif
int32_t ZModuleDeviceManager::code_scaner_start_scan(uint16_t id) { PROXY_IMPL(ZICodeScaner, code_scaner_start_scan); }
int32_t ZModuleDeviceManager::code_scaner_stop_scan(uint16_t id) { PROXY_IMPL(ZICodeScaner, code_scaner_stop_scan); }
int32_t ZModuleDeviceManager::code_scaner_read_scaner_result(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len) {
  PROXY_IMPL(ZICodeScaner, code_scaner_read_scaner_result, startadd, data, len);
}

#if 0
  virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; };
  virtual int32_t pipette_ctrl_put_tip() { return err::koperation_not_support; };
  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) { return err::koperation_not_support; };
#endif

int32_t ZModuleDeviceManager::pipette_ctrl_init_device(uint16_t id) { PROXY_IMPL(ZIPipetteCtrlModule, pipette_ctrl_init_device); }
int32_t ZModuleDeviceManager::pipette_ctrl_put_tip(uint16_t id) { PROXY_IMPL(ZIPipetteCtrlModule, pipette_ctrl_put_tip); }
int32_t ZModuleDeviceManager::pipette_ctrl_move_to_ul(uint16_t id, int32_t ul) { PROXY_IMPL(ZIPipetteCtrlModule, pipette_ctrl_move_to_ul, ul); }