update

api/apibasic/cmdid.hpp

@@ -15,7 +15,7 @@ typedef enum {
 
   kboard_reset = CMDID(0, 0),  // para:{}, ack:{}
 
-  kevent_bus_reg_change_report = CMDID(0, 100),  // para:{}, ack:{}
+  kevent_bus_reg_change_report = CMDID(0, 100),  // val{regindex, oldval, toval}
 
   kmodule_ping        = CMDID(1, 0),
   kmodule_get_status  = CMDID(1, 4),
@@ -137,6 +137,7 @@ typedef enum {
   kpipette_write_cmd_direct           = CMDID(0x72, 21),  // para:{strbuf}, ack:{strbuf}
   kpipette_get_sensor_sample_data     = CMDID(0x72, 22),  // para:{index} , ack:{motor_pos,cval,pval}
   kpipette_get_sensor_sample_data_num = CMDID(0x72, 23),  // para:{}      , ack:{num}
+  kpipette_sensor_sample_data_report  = CMDID(0x72, 50),  // val{regindex, oldval, toval}
 
 } cmdid_t;
 

api/zi_event_bus.hpp

@@ -11,18 +11,4 @@
 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

protocol.hpp

@@ -3,6 +3,4 @@
 //
 #include "i_zcanreceiver.hpp"
 //
-#include "reg_index_table.hpp"
-//
-#include "protocol_event_bus_sender.hpp"
+#include "reg_index_table.hpp"

protocol_event_bus_sender.cpp

@@ -1,24 +0,0 @@
-#include "protocol_event_bus_sender.hpp"
-
-#include "api/api.hpp"
-#include "i_zcanreceiver.hpp"
-namespace iflytop {
-using namespace std;
-
-void ProtocolEventBusSender::initialize(IZCanReceiver* zcanreceiver) { m_zcanreceiver = zcanreceiver; }
-
-void ProtocolEventBusSender::push_reg_state_change_event(int32_t moduleid, int32_t regindex, int32_t oldval, int32_t toval) {
-  zcr_cmd_header_t cmd_header = {0};
-  int32_t          data[3];
-
-  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;
-  data[3] = toval;
-  m_zcanreceiver->triggerEvent(&cmd_header, (uint8_t*)data, sizeof(data));
-}
-
-}  // namespace iflytop

protocol_event_bus_sender.hpp

@@ -1,20 +0,0 @@
-#pragma once
-#include "api/api.hpp"
-#include "i_zcanreceiver.hpp"
-namespace iflytop {
-using namespace std;
-
-class ProtocolEventBusSender : public ZIEventBusSender {
-  IZCanReceiver* m_zcanreceiver = nullptr;
-
- public:
-  static ProtocolEventBusSender* inst() {
-    static ProtocolEventBusSender instance;
-    return &instance;
-  }
-
-  void initialize(IZCanReceiver* zcanreceiver);
-
-  virtual void push_reg_state_change_event(int32_t moduleid, int32_t regindex, int32_t oldval, int32_t toval) override;
-};
-}  // namespace iflytop