update

api/packet_interface.hpp

@@ -6,10 +6,10 @@ namespace zcr {
 #pragma pack(push, 1)
 typedef struct {
   uint16_t packetindex;
-  uint16_t cmdmoduleid;
-  uint8_t  subcmdid;
-  uint8_t  packetType;
-  uint16_t submoduleid;
+  uint16_t cmdMainId;  // cmd main id
+  uint8_t  cmdSubId;     // cmd sub id
+  uint8_t  packetType;   //
+  uint16_t subModuleid;  // module id
   uint8_t  data[];
 } zcr_cmd_header_t;
 #pragma pack(pop)
@@ -24,8 +24,8 @@ typedef enum {
 }  // namespace zcr
 }  // namespace iflytop
 
-#define CMDID(cmdid, subcmdid) ((cmdid << 8) + subcmdid)
-#define SUBCMDID(cmdid)        (cmdid & 0xff)
+#define CMDID(cmdid, cmdSubId) ((cmdid << 8) + cmdSubId)
+#define CMD_SUB_ID(cmdid)        (cmdid & 0xff)
 #define MODULE_CMDID(cmdid)    (cmdid >> 8)
 
 #define STEP_MOTOR_ID_OFF 100

protocol_event_bus_sender.cpp

@@ -11,9 +11,9 @@ void ProtocolEventBusSender::push_reg_state_change_event(int32_t moduleid, int32
   zcr_cmd_header_t cmd_header = {0};
   int32_t          data[3];
 
-  cmd_header.cmdmoduleid = moduleid;
-  cmd_header.cmdmoduleid = zcr::kevent_bus_reg_change_report >> 8;
-  cmd_header.submoduleid = zcr::kevent_bus_reg_change_report & 0xff;
+  cmd_header.subModuleid = moduleid;
+  cmd_header.cmdMainId   = zcr::kevent_bus_reg_change_report >> 8;
+  cmd_header.subModuleid = zcr::kevent_bus_reg_change_report & 0xff;
 
   data[1] = regindex;
   data[2] = oldval;

protocol_parser.cpp

@@ -100,15 +100,15 @@ void ZIProtocolParser::registerModule(ZIModule* module) {
 }
 
 void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, int32_t len) {
-  // printf("onRceivePacket cmdid:%d submoduleid:%d subcmdid:%d\n", rxcmd->cmdmoduleid, rxcmd->submoduleid, rxcmd->subcmdid);
-  uint16_t submoduleid = rxcmd->submoduleid;
-  auto     it          = m_modulers.find(submoduleid);
+  // printf("onRceivePacket cmdid:%d subModuleid:%d cmdSubId:%d\n", rxcmd->cmdMainId, rxcmd->subModuleid, rxcmd->cmdSubId);
+  uint16_t subModuleid = rxcmd->subModuleid;
+  auto     it          = m_modulers.find(subModuleid);
   if (it == m_modulers.end()) {
     return;
   }
 
   ZIModule* module = it->second;
-  int32_t   cmdid  = CMDID(rxcmd->cmdmoduleid, rxcmd->subcmdid);
+  int32_t   cmdid  = CMDID(rxcmd->cmdMainId, rxcmd->cmdSubId);
   /*******************************************************************************
    *                                   module                                   *
    *******************************************************************************/

zmodule_device_manager.cpp

@@ -18,12 +18,12 @@ void ZModuleDeviceManager::initialize(IZcanCmderMaster *cancmder) {
   // assert(m_cancmder != nullptr);
   if (m_cancmder) {
     m_cancmder->regEventPacketListener([this](int32_t fromboard, zcr_cmd_header_t *packet, int32_t datalen) {
-      if (CMDID(packet->cmdmoduleid, packet->subcmdid) == zcr::kevent_bus_reg_change_report) {
+      if (CMDID(packet->cmdMainId, packet->cmdSubId) == zcr::kevent_bus_reg_change_report) {
         int32_t *pdata    = (int32_t *)packet->data;
         int32_t  regindex = pdata[0];
         int32_t  regold   = pdata[1];
         int32_t  regnew   = pdata[2];
-        callOnRegValChangeEvent(packet->cmdmoduleid, regindex, regold, regnew);
+        callOnRegValChangeEvent(packet->cmdMainId, regindex, regold, regnew);
       }
     });
   }