diff --git a/api/apibasic/cmdid.hpp b/api/apibasic/cmdid.hpp index cc2a40c..71a9b86 100644 --- a/api/apibasic/cmdid.hpp +++ b/api/apibasic/cmdid.hpp @@ -18,10 +18,12 @@ typedef enum { kmodule_ping = CMDID(1, 0), // para:{}, ack:{} kmodule_get_status = CMDID(1, 4), // para:{}, ack:{4} + kmodule_stop = CMDID(1, 1), // para:{}, ack:{} kmodule_set_reg = CMDID(1, 5), // para:{4,4}, ack:{} kmodule_get_reg = CMDID(1, 6), // para:{4}, ack:{4}I kmodule_get_error = CMDID(1, 10), // para:{}, ack:{1} kmodule_clear_error = CMDID(1, 11), // para:{}, ack:{} + kmodule_active_cfg = CMDID(1, 16), // para:{}, ack:{} kxymotor_enable = CMDID(3, 1), // para:{1}, ack:{} kxymotor_move_by = CMDID(3, 2), // para:{4,4,4}, ack:{} @@ -48,8 +50,6 @@ typedef enum { ka8000_optical_read_laster_adc_val = CMDID(6, 6), // para:{4}, ack:{4} ka8000_optical_scan_current_point_amp_adc_val = CMDID(6, 7), // para:{4,4,4,4}, ack:{4,4} - - /*********************************************************************************************************************************************** * NEW * * NEW * @@ -58,7 +58,6 @@ typedef enum { * NEW * ***********************************************************************************************************************************************/ - /*********************************************************************************************************************** * STEP_MOTOR * ***********************************************************************************************************************/ diff --git a/api/apibasic/temp_errorcode.hpp b/api/apibasic/temp_errorcode.hpp deleted file mode 100644 index 4c24cc3..0000000 --- a/api/apibasic/temp_errorcode.hpp +++ /dev/null @@ -1,128 +0,0 @@ -#pragma once -#include - -namespace iflytop { -namespace err { -using namespace std; - -#define ERROR_CODE(errortype, suberrorcode) (errortype + suberrorcode) - -typedef enum { - ksucc = ERROR_CODE(0, 0), - kfail = ERROR_CODE(0, 1), - kparam_out_of_range = ERROR_CODE(0, 2), // 参数超出范围 - koperation_not_support = ERROR_CODE(0, 3), // 操作不支持 - kdevice_is_busy = ERROR_CODE(0, 4), // 设备忙 - kdevice_is_offline = ERROR_CODE(0, 5), // 设备离线 - kovertime = ERROR_CODE(0, 6), - knoack = ERROR_CODE(0, 7), - kerrorack = ERROR_CODE(0, 8), - kdevice_offline = ERROR_CODE(0, 9), - kparse_json_err = ERROR_CODE(0, 10), - ksubdevice_overtime = ERROR_CODE(0, 11), - kbuffer_not_enough = ERROR_CODE(0, 12), - kcmd_not_found = ERROR_CODE(0, 13), - kcmd_param_num_error = ERROR_CODE(0, 14), - kcheckcode_is_error = ERROR_CODE(0, 15), - kcatch_exception = ERROR_CODE(0, 16), - khwardware_error_fan_error = ERROR_CODE(0, 17), - khwardware_error = ERROR_CODE(0, 18), - - /** - * @brief 系统错误 - */ - ksys_error = ERROR_CODE(100, 0), - ksys_create_file_error = ERROR_CODE(100, 1), - ksys_create_dir_error = ERROR_CODE(100, 2), - ksys_open_file_error = ERROR_CODE(100, 3), - ksys_open_dir_error = ERROR_CODE(100, 4), - ksys_read_file_error = ERROR_CODE(100, 5), - ksys_write_file_error = ERROR_CODE(100, 6), - ksys_close_file_error = ERROR_CODE(100, 7), - ksys_close_dir_error = ERROR_CODE(100, 8), - ksys_delete_file_error = ERROR_CODE(100, 9), - ksys_delete_dir_error = ERROR_CODE(100, 10), - ksys_copy_file_error = ERROR_CODE(100, 11), - - /** - * @brief module error - */ - kmodule_not_inited = ERROR_CODE(200, 0), - kmodule_not_found = ERROR_CODE(200, 1), - kmodule_opeation_break_by_user = ERROR_CODE(200, 2), // 用户中断 - kmodule_error = ERROR_CODE(200, 3), // 未知错误 - kmodule_not_find_config_index = ERROR_CODE(200, 4), // 未找到配置索引 - kmodule_not_find_state_index = ERROR_CODE(200, 5), // 未找到配置索引 - kmodule_not_support_action = ERROR_CODE(200, 6), // 未找到配置索引 - kmodule_not_find_reg = ERROR_CODE(200, 7), // 未找到配置索引 - - /** - * @brief motor error - */ - kmotor_not_found_zero_point = ERROR_CODE(300, 0), // 未找到零点 - kmotor_did_not_go_zero = ERROR_CODE(300, 1), // 设备未归零 - kmotor_over_temperature = ERROR_CODE(300, 2), // 过温 - kmotor_over_voltage = ERROR_CODE(300, 3), // 过压 - kxymotor_not_found_x_zero_point = ERROR_CODE(300, 4), // 未找到零点 - kxymotor_not_found_y_zero_point = ERROR_CODE(300, 5), // 未找到零点 - kxymotor_x_find_zero_edge_fail = ERROR_CODE(300, 6), // 离开零点失败 - kxymotor_y_find_zero_edge_fail = ERROR_CODE(300, 7), // 离开零点失败 - kmotor_run_overtime = ERROR_CODE(300, 8), // 运行超时 - kmotor_not_enable = ERROR_CODE(300, 9), // 电机未使能 - - /** - * @brief STMP2错误 - */ - kSMTP2_NoError = ERROR_CODE(400, 0), // 无错误 - kSMTP2_InitFail = ERROR_CODE(400, 1), // 初始化失败 - kSMTP2_InvalidCmd = ERROR_CODE(400, 2), // 无效命令 - kSMTP2_InvalidArg = ERROR_CODE(400, 3), // 无效参数 - kSMTP2_PressureSensorError = ERROR_CODE(400, 4), // 压力传感器故障 - kSMTP2_OverPressure = ERROR_CODE(400, 5), // 超过压力 - kSMTP2_LLDError = ERROR_CODE(400, 6), // LLD 错误 - kSMTP2_DeviceNotInit = ERROR_CODE(400, 7), // 设备未初始化 - kSMTP2_TipPopError = ERROR_CODE(400, 8), // Tip 弹出错误 - kSMTP2_PumpOverload = ERROR_CODE(400, 9), // 泵过载 - kSMTP2_TipDrop = ERROR_CODE(400, 10), // Tip 脱落 - kSMTP2_CanBusError = ERROR_CODE(400, 11), // CAN 总线故障 - kSMTP2_InvalidChecksum = ERROR_CODE(400, 12), // 无效校验和 - kSMTP2_EEPROMError = ERROR_CODE(400, 13), // EEPROM 故障 - kSMTP2_CmdBufferEmpty = ERROR_CODE(400, 14), // 命令缓冲区为空 - kSMTP2_CmdBufferOverflow = ERROR_CODE(400, 15), // 命令溢出 - kSMTP2_TipBlock = ERROR_CODE(400, 16), // Tip 堵塞 - kSMTP2_AirSuction = ERROR_CODE(400, 17), // 吸入空气 - kSMTP2_Bubble = ERROR_CODE(400, 18), // 液体中有气泡/泡沫 - kSMTP2_VolumeError = ERROR_CODE(400, 19), // 吸取/分配量不准确 - kSMTP2_TipAlreadyLoad = ERROR_CODE(400, 20), // Tip已经装载 - kSMTP2_TipLoadFail = ERROR_CODE(400, 21), - - /** - * @brief 单片机硬件错误 - */ - kmicro_noErr = ERROR_CODE(500, 0), // - kmicro_uartSendFail = ERROR_CODE(500, 1), // - kmicro_uartRecvFail = ERROR_CODE(500, 2), // - kmicro_adcRecvFail = ERROR_CODE(500, 3), // - - /** - * @brief step motor error - */ - kstep_motor_not_found_zero_point = ERROR_CODE(600, 0), // 未找到零点 - kstep_motor_not_go_zero = ERROR_CODE(600, 1), // 设备未归零 - kstep_motor_over_temperature = ERROR_CODE(600, 2), // 过温 - kstep_motor_over_voltage = ERROR_CODE(600, 3), // 过压 - kstep_motor_run_overtime = ERROR_CODE(600, 4), // 运行超时 - kstep_motor_not_enable = ERROR_CODE(600, 5), // 电机未使能 - kstep_motor_ioindex_out_of_range = ERROR_CODE(600, 6), // IO超出范围 - - /** - * @brief mini servo error - */ - kmini_servo_not_enable = ERROR_CODE(700, 0), // 未找到零点 - -} error_t; - -const char* error2str(int32_t code); - -} // namespace err -} // namespace iflytop diff --git a/api/apibasic/temp_module_type_index.hpp b/api/apibasic/temp_module_type_index.hpp deleted file mode 100644 index f301fe1..0000000 --- a/api/apibasic/temp_module_type_index.hpp +++ /dev/null @@ -1,20 +0,0 @@ -#pragma once -#include - -namespace iflytop { -typedef enum { - kuniversal_module = 0, // 通用模块 - khbot_module = 1, // hbot模块 - kmotor_module = 2, // 电机控制 - ktemperature_ctrl_module = 3, // 温度控制 - kfan_ctrl_module = 5, // 风扇控制 - kcode_scaner = 6, // 风扇控制 - kpipette_ctrl_module = 7, // 移液体枪控制 - ka8000_optical_module = 8, // a8000光学模组 - klaster_scaner_module = 9, // a8000光学模组 - - ktmc_step_motor = 10, // 步进电机 - kmini_servo_motor_module = 11, // 舵机 - kboard = 12, // 舵机 -} module_type_t; -} diff --git a/api/apibasic/temp_reg_index.hpp b/api/apibasic/temp_reg_index.hpp deleted file mode 100644 index e927611..0000000 --- a/api/apibasic/temp_reg_index.hpp +++ /dev/null @@ -1,193 +0,0 @@ -#pragma once -#include - -namespace iflytop { -using namespace std; - -#define REG_INDEX(type, offset, subconfigindex) (type * 100 + offset + subconfigindex) -typedef enum { - /******************************************************************************* - * 模块通用配置和状态 * - *******************************************************************************/ - kreg_module_version = REG_INDEX(0, 0, 0), // 模块版本 - kreg_module_type = REG_INDEX(0, 0, 1), // 模块类型 - kreg_module_status = REG_INDEX(0, 0, 2), // 0idle,1busy,2error - kreg_module_errorcode = REG_INDEX(0, 0, 3), // inited_flag - /******************************************************************************* - * SENSOR * - *******************************************************************************/ - kreg_sensor_temperature0 = REG_INDEX(2, 0, 0), // 温度1 - kreg_sensor_temperature1 = REG_INDEX(2, 0, 1), // 温度2 - kreg_sensor_temperature2 = REG_INDEX(2, 0, 2), // 温度3 - kreg_sensor_temperature3 = REG_INDEX(2, 0, 3), // 温度4 - - /******************************************************************************* - * 机械人通用配置 * - *******************************************************************************/ - - /******************************************************************************* - * MOTOR_X * - *******************************************************************************/ - - /******************************************************************************* - * PID控制器(3000->4000) * - *******************************************************************************/ - kreg_pid_target = REG_INDEX(30, 0, 0), // 目标数值 - kreg_pid_nowoutput = REG_INDEX(30, 0, 1), // 当前输出 - kreg_pid_feedbackval = REG_INDEX(30, 0, 2), // 当前输出 - kreg_pid_kp = REG_INDEX(30, 50, 0), // kp - kreg_pid_ki = REG_INDEX(30, 50, 1), // ki - kreg_pid_kd = REG_INDEX(30, 50, 2), // kd - kreg_pid_max_output = REG_INDEX(30, 50, 3), // 最大输出 - kreg_pid_min_output = REG_INDEX(30, 50, 4), // 最小输出 - kreg_pid_max_integral = REG_INDEX(30, 50, 5), // 最大积分 - kreg_pid_min_integral = REG_INDEX(30, 50, 6), // 最小积分 - kreg_error_limit = REG_INDEX(30, 50, 7), // 误差限制 - kreg_compute_interval = REG_INDEX(30, 50, 8), // 计算间隔 - - /******************************************************************************* - * 风扇控制 * - *******************************************************************************/ - kreg_fan0_ctrl_speed_level = REG_INDEX(31, 0, 0), // 风扇转速0,1,2,3 - kreg_fan1_ctrl_speed_level = REG_INDEX(31, 0, 1), // 风扇转速0,1,2,3 - kreg_fan2_ctrl_speed_level = REG_INDEX(31, 0, 2), // 风扇转速0,1,2,3 - kreg_fan3_ctrl_speed_level = REG_INDEX(31, 0, 3), // 风扇转速0,1,2,3 - kreg_fan4_ctrl_speed_level = REG_INDEX(31, 0, 4), // 风扇转速0,1,2,3 - - kreg_fan0_speed_level = REG_INDEX(31, 10, 0), // 风扇实时转速0,1,2,3 - kreg_fan1_speed_level = REG_INDEX(31, 10, 1), // 风扇实时转速0,1,2,3 - kreg_fan2_speed_level = REG_INDEX(31, 10, 2), // 风扇实时转速0,1,2,3 - kreg_fan3_speed_level = REG_INDEX(31, 10, 3), // 风扇实时转速0,1,2,3 - kreg_fan4_speed_level = REG_INDEX(31, 10, 4), // 风扇实时转速0,1,2,3 - - kreg_pwm_pump0_ctrl_speed_level = REG_INDEX(32, 0, 0), // PWM水泵0,1,2,3 - kreg_pwm_pump1_ctrl_speed_level = REG_INDEX(32, 0, 1), // PWM水泵0,1,2,3 - kreg_pwm_pump2_ctrl_speed_level = REG_INDEX(32, 0, 2), // PWM水泵0,1,2,3 - kreg_pwm_pump3_ctrl_speed_level = REG_INDEX(32, 0, 3), // PWM水泵0,1,2,3 - kreg_pwm_pump4_ctrl_speed_level = REG_INDEX(32, 0, 4), // PWM水泵0,1,2,3 - - kreg_pwm_pump0_speed_level = REG_INDEX(32, 10, 0), // PWM水泵0,1,2,3 - kreg_pwm_pump1_speed_level = REG_INDEX(32, 10, 1), // PWM水泵0,1,2,3 - kreg_pwm_pump2_speed_level = REG_INDEX(32, 10, 2), // PWM水泵0,1,2,3 - kreg_pwm_pump3_speed_level = REG_INDEX(32, 10, 3), // PWM水泵0,1,2,3 - kreg_pwm_pump4_speed_level = REG_INDEX(32, 10, 4), // PWM水泵0,1,2,3 - - /******************************************************************************* - * 移液枪状态 * - *******************************************************************************/ - kreg_pipette_pos_ul = REG_INDEX(40, 0, 0), // 移液枪位置 - kreg_pipette_capactitance_val = REG_INDEX(40, 0, 1), // 移液枪电容值 - kreg_pipette_tip_state = REG_INDEX(40, 0, 2), // 移动液枪tip状态 - kreg_pipette_limit_ul = REG_INDEX(40, 50, 0), // 移液枪ul限制 - - /******************************************************************************* - * smartADC * - *******************************************************************************/ - kreg_self_reflecting_laser_sensor_transmitting_power = REG_INDEX(41, 0, 0), // 发射功率 - kreg_self_reflecting_laser_sensor_receiving_tube_gain = REG_INDEX(41, 0, 1), // 接收管放大倍数 - kreg_self_reflecting_laser_sensor_sample_interval_ms = REG_INDEX(41, 0, 2), // 采样率 - kreg_self_reflecting_laser_sensor_num_samples = REG_INDEX(41, 0, 3), // 采样点数 - - // scan action - kreg_boditech_optical_scan_type = REG_INDEX(42, 0, 0), // 0 t光学，1 f光学 - kreg_boditech_optical_scan_start_pos = REG_INDEX(42, 0, 1), - kreg_boditech_optical_scan_direction = REG_INDEX(42, 0, 2), - kreg_boditech_optical_scan_step_interval = REG_INDEX(42, 0, 3), - kreg_boditech_optical_scan_pointnum = REG_INDEX(42, 0, 4), - kreg_boditech_optical_channel_select_num = REG_INDEX(42, 0, 5), - kreg_boditech_optical_laster_gain = REG_INDEX(42, 0, 6), - kreg_boditech_optical_scan_gain = REG_INDEX(42, 0, 7), - kreg_boditech_optical_trf_uvled_on_duration_us = REG_INDEX(42, 0, 8), - kreg_boditech_optical_trf_uvled_off_duration_us = REG_INDEX(42, 0, 9), - kreg_boditech_optical_trf_scan_delay_us = REG_INDEX(42, 0, 10), - kreg_boditech_optical_trf_scan_duration_us = REG_INDEX(42, 0, 11), - kreg_boditech_optical_scan_gain_adjust_suggestion = REG_INDEX(42, 0, 12), - kreg_boditech_optical_adc_result_overflow = REG_INDEX(42, 0, 13), - kreg_boditech_optical_laster_intensity = REG_INDEX(42, 0, 14), - - // - kreg_laster_scaner_scan_type = REG_INDEX(43, 0, 0), // 0 t光学，1 f光学 - - kreg_laster_scaner_scan_start_pos = REG_INDEX(43, 0, 1), - kreg_laster_scaner_scan_direction = REG_INDEX(43, 0, 2), - kreg_laster_scaner_scan_step_interval = REG_INDEX(43, 0, 3), - kreg_laster_scaner_scan_pointnum = REG_INDEX(43, 0, 4), - kreg_laster_scaner_laster_gain = REG_INDEX(43, 0, 5), - kreg_laster_scaner_scan_gain = REG_INDEX(43, 0, 6), - - kreg_laster_scaner_scan_gain_adjust_suggestion = REG_INDEX(43, 0, 12), - kreg_laster_scaner_adc_result_overflow = REG_INDEX(43, 0, 13), - kreg_laster_scaner_laster_intensity = REG_INDEX(43, 0, 14), - - /*********************************************************************************************************************** - * XYROBOT * - ***********************************************************************************************************************/ - - kreg_xyrobot_default_velocity = REG_INDEX(100, 0, 0), - kreg_xyrobot_default_acc = REG_INDEX(100, 0, 1), - kreg_xyrobot_default_dec = REG_INDEX(100, 0, 2), - kreg_xyrobot_default_break_dec = REG_INDEX(100, 0, 3), - kreg_xyrobot_run_to_zero_speed = REG_INDEX(100, 0, 4), - kreg_xyrobot_run_to_zero_dec = REG_INDEX(100, 0, 5), - kreg_xyrobot_look_zero_edge_speed = REG_INDEX(100, 0, 6), - kreg_xyrobot_look_zero_edge_dec = REG_INDEX(100, 0, 7), - kreg_xyrobot_ihold = REG_INDEX(100, 0, 8), - kreg_xyrobot_irun = REG_INDEX(100, 0, 9), - kreg_xyrobot_iholddelay = REG_INDEX(100, 0, 10), - - kreg_xyrobot_robot_type = REG_INDEX(100, 50, 0), // 机器人类型 0:hbot 1:corexy - kreg_xyrobot_x_shift = REG_INDEX(100, 50, 1), // x偏移 - kreg_xyrobot_y_shift = REG_INDEX(100, 50, 2), // y偏移 - kreg_xyrobot_x_shaft = REG_INDEX(100, 50, 3), // x轴是否反转 - kreg_xyrobot_y_shaft = REG_INDEX(100, 50, 4), // y轴是否反转 - kreg_xyrobot_x_one_circle_pulse = REG_INDEX(100, 50, 5), // x轴一圈脉冲数 - kreg_xyrobot_y_one_circle_pulse = REG_INDEX(100, 50, 6), // y轴一圈脉冲数 - kreg_xyrobot_run_to_zero_max_x_d = REG_INDEX(100, 50, 7), // x轴回零最大距离 - kreg_xyrobot_run_to_zero_max_y_d = REG_INDEX(100, 50, 8), // y轴回零最大距离 - kreg_xyrobot_look_zero_edge_max_x_d = REG_INDEX(100, 50, 9), // x轴找零边缘最大距离 - kreg_xyrobot_look_zero_edge_max_y_d = REG_INDEX(100, 50, 10), // y轴找零边缘最大距离 - kreg_xyrobot_io_state0 = REG_INDEX(100, 50, 11), // IO状态 - kreg_xyrobot_io_state1 = REG_INDEX(100, 50, 12), // IO状态 - - /*********************************************************************************************************************** - * step_motor * - ***********************************************************************************************************************/ - kreg_step_motor_pos = REG_INDEX(101, 0, 1), // 机器人x坐标 - kreg_step_motor_dpos = REG_INDEX(101, 0, 3), // 执行完上一条指令后的相对位移 - - kreg_step_motor_shift = REG_INDEX(101, 50, 0), // x偏移 - kreg_step_motor_shaft = REG_INDEX(101, 50, 1), // x轴是否反转 - kreg_step_motor_one_circle_pulse = REG_INDEX(101, 50, 2), // x轴一圈脉冲数 - kreg_step_motor_one_circle_pulse_denominator = REG_INDEX(101, 50, 3), // 设置一圈脉冲数的分母 - kreg_step_motor_default_velocity = REG_INDEX(101, 50, 4), // 默认速度 - kreg_step_motor_default_acc = REG_INDEX(101, 50, 5), // 默认加速度 - kreg_step_motor_default_dec = REG_INDEX(101, 50, 6), // 默认减速度 - kreg_step_motor_default_break_dec = REG_INDEX(101, 50, 7), // 默认减速度 - kreg_step_motor_ihold = REG_INDEX(101, 50, 8), // 步进电机电流配置 - kreg_step_motor_irun = REG_INDEX(101, 50, 9), // 步进电机电流配置 - kreg_step_motor_iholddelay = REG_INDEX(101, 50, 10), // 步进电机电流配置 - kreg_step_motor_iglobalscaler = REG_INDEX(101, 50, 11), // 步进电机电流配置 - kreg_step_motor_run_to_zero_max_d = REG_INDEX(101, 50, 21), // x轴回零最大距离 - kreg_step_motor_look_zero_edge_max_d = REG_INDEX(101, 50, 22), // x轴找零边缘最大距离 - kreg_step_motor_run_to_zero_speed = REG_INDEX(101, 50, 23), // 回零速度 - kreg_step_motor_run_to_zero_dec = REG_INDEX(101, 50, 24), // 回零减速度 - kreg_step_motor_look_zero_edge_speed = REG_INDEX(101, 50, 25), // 找零边缘速度 - kreg_step_motor_look_zero_edge_dec = REG_INDEX(101, 50, 26), // 找零边缘减速度 - kreg_step_motor_max_d = REG_INDEX(101, 50, 28), // 最大限制距离 - kreg_step_motor_min_d = REG_INDEX(101, 50, 29), // 最小限制距离 - - /*********************************************************************************************************************** - * MINI_STEP_MOTOR * - ***********************************************************************************************************************/ - - kreg_mini_servo_pos = REG_INDEX(102, 0, 1), // 位置 - kreg_mini_servo_limit_velocity = REG_INDEX(102, 50, 1), // 限制速度 - kreg_mini_servo_limit_torque = REG_INDEX(102, 50, 2), // 限制扭矩 - kreg_mini_servo_protective_torque = REG_INDEX(102, 50, 3), // 保护扭矩 - - /*********************************************************************************************************************** - * BOARD * - ***********************************************************************************************************************/ -} reg_index_t; - -} // namespace iflytop diff --git a/api/temp_zi_a8000_optical_module.hpp b/api/temp_zi_a8000_optical_module.hpp deleted file mode 100644 index eb425b6..0000000 --- a/api/temp_zi_a8000_optical_module.hpp +++ /dev/null @@ -1,46 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - - -namespace iflytop { -using namespace std; -class ZIA8000OpticalModule { - public: - typedef enum { - kf_optical = 0, - kt_optical = 1, - ktest_optical = 2, - } optical_type_t; - - public: - virtual ~ZIA8000OpticalModule(){}; - - /******************************************************************************* - * TEST * - *******************************************************************************/ - /** - * @概述: - * 1. 下面方法属于单步测试采样的方法，用于调试。一般手动移动光学模组，然后利用下面方法进行测试 - * 2. 正式逻辑不使用下面逻辑 - */ - virtual int32_t a8000_optical_module_power_ctrl(int32_t state) { return err::kmodule_not_support_action; } - virtual int32_t a8000_optical_open_laser(int32_t type) { return err::kmodule_not_support_action; } - virtual int32_t a8000_optical_close_laser(int32_t type) { return err::kmodule_not_support_action; } - virtual int32_t a8000_optical_set_laster_gain(int32_t type, int32_t gain) { return err::kmodule_not_support_action; } - virtual int32_t a8000_optical_set_scan_amp_gain(int32_t type, int32_t gain) { return err::kmodule_not_support_action; } - virtual int32_t a8000_optical_read_scanner_adc_val(int32_t type, int32_t* adcval) { return err::kmodule_not_support_action; } - virtual int32_t a8000_optical_read_laster_adc_val(int32_t type, int32_t* adcval) { return err::kmodule_not_support_action; } - /** - * @brief 打开闪光灯读取当前这一点的采样信息 - * - * @param type - * @param adcval - * @return int32_t - */ - virtual int32_t a8000_optical_scan_current_point_amp_adc_val(int32_t type, int32_t lastergain, int32_t ampgain, int32_t* laster_fb_val, int32_t* adcval) { return err::kmodule_not_support_action; } -}; -} // namespace iflytop diff --git a/api/temp_zi_event_bus.hpp b/api/temp_zi_event_bus.hpp deleted file mode 100644 index a66e030..0000000 --- a/api/temp_zi_event_bus.hpp +++ /dev/null @@ -1,28 +0,0 @@ -#pragma once -#include - -#include -#include "apibasic/basic.hpp" - - - - - -namespace iflytop { -using namespace std; - -// typedef enum { -// kreg_change_event = 1, -// } event_type_t; - -class ZIEventBusSender { - public: - virtual ~ZIEventBusSender() {} - /** - * @brief 模块状态发生改变,具体的状态上位机通过查询指令进行确定 - * - * @param moduleid - */ - virtual void push_reg_state_change_event(int32_t moduleid, int32_t regindex, int32_t oldval, int32_t toval) = 0; -}; -} // namespace iflytop diff --git a/api/temp_zi_module.hpp b/api/temp_zi_module.hpp deleted file mode 100644 index c816847..0000000 --- a/api/temp_zi_module.hpp +++ /dev/null @@ -1,82 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - -namespace iflytop { -using namespace std; - -#define REG_SET(reg, ...) _module_set_reg(param_id, ®, val, ##__VA_ARGS__) -#define REG_GET(reg) _module_get_reg(param_id, reg, val) - -#define REG_SET_FLOAT(reg, precision, ...) _module_set_reg_float(param_id, ®, val, precision, ##__VA_ARGS__) -#define REG_GET_FLOAT(reg, precision) _module_get_reg_float(param_id, reg, val, precision) - -#define ACTION_NONE 0 -#define PROCESS_REG(param_id, readaction, writeacton) \ - case param_id: { \ - if (read) { \ - return readaction; \ - } else { \ - return writeacton; \ - } \ - } break; - -#define ENABLE_MODULE(name, type, version) \ - public: \ - virtual int32_t module_get_version(int32_t *val) { \ - *val = version; \ - return 0; \ - } \ - virtual int32_t module_get_type(int32_t *val) { \ - *val = type; \ - return 0; \ - } - -#define MODULE_COMMON_PROCESS_REG_CB() - -typedef struct { - int32_t module_errorcode; - int32_t module_errorbitflag0; - int32_t m_module_status; -} module_common_reg_t; - -class ZIModule { - int32_t m_inited_flag = 0; - - protected: - module_common_reg_t creg; - - public: - virtual ~ZIModule() {} - - public: - virtual int32_t getid(); - virtual int32_t module_ping(); - virtual int32_t module_get_error(int32_t *iserror); - virtual int32_t module_clear_error(); - virtual int32_t module_set_reg(int32_t param_id, int32_t param_value); - virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value); - virtual int32_t module_get_status(int32_t *status); - virtual int32_t module_get_version(int32_t *val) = 0; - virtual int32_t module_get_type(int32_t *val) = 0; - - /*********************************************************************************************************************** - * 用户实现 * - ***********************************************************************************************************************/ - virtual int32_t getid(int32_t *id) = 0; - virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val) = 0; - - protected: - virtual int32_t _module_set_reg(int32_t regoff, int32_t *regval, int32_t val, int32_t min = INT32_MIN, int32_t max = INT32_MAX); - virtual int32_t _module_get_reg(int32_t regoff, int32_t regval, int32_t &val); - virtual int32_t _module_set_reg_float(int32_t regoff, float *regval, int32_t val, float precision, int32_t min = INT32_MIN, int32_t max = INT32_MAX); - virtual int32_t _module_get_reg_float(int32_t regoff, float regval, int32_t &val, float precision); - virtual int32_t _module_xxx_reg(int32_t param_id, bool read, int32_t &val); - - public: - public: -}; -} // namespace iflytop diff --git a/api/zi_module.hpp b/api/zi_module.hpp index a89d90e..6b7f22f 100644 --- a/api/zi_module.hpp +++ b/api/zi_module.hpp @@ -62,9 +62,11 @@ class ZIModule { virtual int32_t module_get_status(int32_t *status); virtual int32_t module_get_version(int32_t *val) = 0; virtual int32_t module_get_type(int32_t *val) = 0; + virtual int32_t module_stop() { return 0; } + virtual int32_t module_active_cfg() { return 0; } /*********************************************************************************************************************** - * ûʵ * + * 用户实现 * ***********************************************************************************************************************/ virtual int32_t getid(int32_t *id) = 0; virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val) = 0;