update

api/api.hpp

@@ -5,4 +5,5 @@
 #include "zi_motor.hpp"
 #include "zi_xymotor.hpp"
 #include "packet_interface.hpp"
-#include "i_zcan_cmder.hpp"
+#include "i_zcan_cmder.hpp"
+#include "i_zcan_cmder_master.hpp"

api/i_zcan_cmder.hpp

@@ -17,10 +17,10 @@ class IZcanCmderListener {
 class IZCanCmder {
  public:
  public:
-  virtual void registerListener(IZcanCmderListener *listener)                      = 0;
-  virtual void sendAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len)    = 0;
-  virtual void sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, uint8_t nack) = 0;
-  virtual void sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode)        = 0;
+  virtual void    registerListener(IZcanCmderListener *listener)                          = 0;
+  virtual int32_t sendAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len)    = 0;
+  virtual int32_t sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, int32_t nack) = 0;
+  virtual int32_t sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode)        = 0;
 };
 
 }  // namespace iflytop

api/i_zcan_cmder_master.hpp

@@ -15,7 +15,7 @@ using namespace zcr;
 
 class IZcanCmderMaster {
  public:
-  virtual int32_t sendCmd(int32_t cmdid, int32_t subcmdid, int32_t *param, size_t npara, int32_t *ack, size_t nack, int overtime_ms) = 0;
+  virtual int32_t sendCmd(int32_t cmdid, int32_t moduleid, int32_t *param, size_t npara, int32_t *ack, size_t nack, int overtime_ms) = 0;
 };
 
 }  // namespace iflytop