a8000_protocol/protocol_proxy.cpp

#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)                 \
  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, 30); \
  ackassign;                                                                             \
  return ecode;

#define PROXY_IMPL_00(cmdindex) PROXY_IMPL_XX(cmdindex, 0, 0, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X0_ACK());
#define PROXY_IMPL_01(cmdindex) PROXY_IMPL_XX(cmdindex, 0, 1, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X1_ACK());
#define PROXY_IMPL_02(cmdindex) PROXY_IMPL_XX(cmdindex, 0, 2, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X2_ACK());
#define PROXY_IMPL_03(cmdindex) PROXY_IMPL_XX(cmdindex, 0, 3, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X3_ACK());
#define PROXY_IMPL_04(cmdindex) PROXY_IMPL_XX(cmdindex, 0, 4, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X4_ACK());

#define PROXY_IMPL_10(cmdindex) PROXY_IMPL_XX(cmdindex, 1, 0, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X0_ACK());
#define PROXY_IMPL_11(cmdindex) PROXY_IMPL_XX(cmdindex, 1, 1, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X1_ACK());
#define PROXY_IMPL_12(cmdindex) PROXY_IMPL_XX(cmdindex, 1, 2, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X2_ACK());
#define PROXY_IMPL_13(cmdindex) PROXY_IMPL_XX(cmdindex, 1, 3, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X3_ACK());
#define PROXY_IMPL_14(cmdindex) PROXY_IMPL_XX(cmdindex, 1, 4, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X4_ACK());

#define PROXY_IMPL_20(cmdindex) PROXY_IMPL_XX(cmdindex, 2, 0, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X0_ACK());
#define PROXY_IMPL_21(cmdindex) PROXY_IMPL_XX(cmdindex, 2, 1, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X1_ACK());
#define PROXY_IMPL_22(cmdindex) PROXY_IMPL_XX(cmdindex, 2, 2, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X2_ACK());
#define PROXY_IMPL_23(cmdindex) PROXY_IMPL_XX(cmdindex, 2, 3, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X3_ACK());
#define PROXY_IMPL_24(cmdindex) PROXY_IMPL_XX(cmdindex, 2, 4, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X4_ACK());

#define PROXY_IMPL_30(cmdindex) PROXY_IMPL_XX(cmdindex, 3, 0, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X0_ACK());
#define PROXY_IMPL_31(cmdindex) PROXY_IMPL_XX(cmdindex, 3, 1, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X1_ACK());
#define PROXY_IMPL_32(cmdindex) PROXY_IMPL_XX(cmdindex, 3, 2, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X2_ACK());
#define PROXY_IMPL_33(cmdindex) PROXY_IMPL_XX(cmdindex, 3, 3, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X3_ACK());

int32_t ZIProtocolProxy::module_stop() { PROXY_IMPL_00(kmodule_stop); }
int32_t ZIProtocolProxy::module_break() { PROXY_IMPL_00(kmodule_break); }
int32_t ZIProtocolProxy::module_get_last_exec_status(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_last_exec_status); }
int32_t ZIProtocolProxy::module_get_status(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_status); }

int32_t ZIProtocolProxy::module_set_param(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmodule_set_param); }
int32_t ZIProtocolProxy::module_get_param(int32_t para0, int32_t *ack0) { PROXY_IMPL_11(kmodule_get_param); }

int32_t ZIProtocolProxy::module_readio(int32_t *ack0) { PROXY_IMPL_01(kmodule_readio); }
int32_t ZIProtocolProxy::module_writeio(int32_t para0) { PROXY_IMPL_10(kmodule_writeio); }

int32_t ZIProtocolProxy::module_read_adc(int32_t para0, int32_t *ack0) { PROXY_IMPL_11(kmodule_read_adc); }
int32_t ZIProtocolProxy::module_get_error(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_error); }
int32_t ZIProtocolProxy::module_clear_error() { PROXY_IMPL_00(kmodule_clear_error); }

/*******************************************************************************
 *                                   ZIMotor                                   *
 *******************************************************************************/
int32_t ZIProtocolProxy::motor_enable(int32_t para0) { PROXY_IMPL_10(kmotor_enable); }
int32_t ZIProtocolProxy::motor_rotate(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_rotate); }
int32_t ZIProtocolProxy::motor_move_by(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_by); }
int32_t ZIProtocolProxy::motor_move_to(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to); }
int32_t ZIProtocolProxy::motor_move_to_with_torque(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmotor_move_to_with_torque); }

/*******************************************************************************
 *                                  ZIXYMotor                                  *
 *******************************************************************************/
int32_t ZIProtocolProxy::xymotor_enable(int32_t para0) { PROXY_IMPL_10(kxymotor_enable); }
int32_t ZIProtocolProxy::xymotor_move_by(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kxymotor_move_by); }
int32_t ZIProtocolProxy::xymotor_move_to(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kxymotor_move_to); }