update

api/i_cmdparser.hpp

@@ -26,14 +26,14 @@ class ICmdParserACK {
   int32_t             rawlen;
 
   int32_t *getAck(int index) {
-    if (index < 0 || index >= rawlen / sizeof(int32_t)) {
+    if (index < 0 || index >= rawlen / (int)sizeof(int32_t)) {
       return nullptr;
     }
     return (int32_t *)rawdata + index;
   }
 
   int32_t getAckInt32Val(int index) {
-    if (index < 0 || index >= rawlen / sizeof(int32_t)) {
+    if (index < 0 || index >= rawlen / (int)sizeof(int32_t)) {
       return 0;
     }
     return *((int32_t *)rawdata + index);

protocol_parser.cpp

@@ -67,7 +67,14 @@ void ZIProtocolParser::initialize(IZCanCmder* cancmder) {
   m_cancmder = cancmder;
   m_cancmder->registerListener(this);
 }
-void ZIProtocolParser::registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; }
+void ZIProtocolParser::_registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; }
+void ZIProtocolParser::registerModule(ZIModule* module) {
+  int32_t moduleid = 0;
+  module->getid(&moduleid);
+  uint16_t id = moduleid;
+  _registerModule(id, module);
+}
+
 void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, int32_t len) {
   uint16_t submoduleid = rxcmd->submoduleid;
   auto     it          = m_modulers.find(submoduleid);

protocol_parser.hpp

@@ -13,7 +13,10 @@ class ZIProtocolParser : public IZcanCmderListener {
  public:
   void         initialize(IZCanCmder* cancmder);
   virtual void onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, int32_t len);
-  void         registerModule(uint16_t id, ZIModule* module);
+  void         registerModule(ZIModule* module);
+
+  private:
+  void         _registerModule(uint16_t id, ZIModule* module);
 };
 
 }  // namespace iflytop

protocol_proxy.hpp

@@ -14,7 +14,10 @@ class ZIProtocolProxy : public ZIMotor,    //
   int32_t           m_id = 0;
 
  public:
-  void initialize(IZCanCmder *cancmder, int32_t id);
+  void initialize(int32_t moduleId,IZcanCmderMaster *cancmder) {
+    m_cancmder = cancmder;
+    m_id       = moduleId;
+  }
 
   virtual int32_t getid(int32_t *id) {
     *id = m_id;

zmodule_device_manager.cpp

@@ -1,4 +1,6 @@
 #include "zmodule_device_manager.hpp"
+
+#include <assert.h>
 using namespace iflytop;
 using namespace std;
 
@@ -9,6 +11,19 @@ using namespace std;
     return ecode;                                 \
   }                                               \
   return module->functionName(__VA_ARGS__);
+
+void ZModuleDeviceManager::initialize(IZcanCmderMaster *cancmder) {
+  m_cancmder = cancmder;
+  assert(m_cancmder != nullptr);
+}
+void ZModuleDeviceManager::registerModule(ZIModule *module) {
+  assert(module != nullptr);
+  int32_t id = 0;
+  module->getid(&id);
+  uint16_t id16 = id;
+  m_modulers[id16] = module;
+}
+
 /*******************************************************************************
  *                                  ZIModule                                   *
  *******************************************************************************/

zmodule_device_manager.hpp

@@ -12,8 +12,8 @@ class ZModuleDeviceManager {
   IZcanCmderMaster         *m_cancmder = nullptr;
 
  public:
-  void initialize();
-  void registerModule(uint16_t id, ZIModule *module);
+  void initialize(IZcanCmderMaster *m_cancmder);
+  void registerModule(ZIModule *module);
   /*******************************************************************************
    *                                  ZIModule                                   *
    *******************************************************************************/