project_boditech_vidas_a8000_v3
/
a8000_protocol
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

change_pipette_api
zhaohe 2 years ago
parent
57d9eb08b5
commit
d330270593
12 changed files with 223 additions and 215 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 58
      api/errorcode.cpp
  2. 113
      api/errorcode.hpp
  3. 20
      api/zi_module.hpp
  4. 10
      api/zi_motor.hpp
  5. 6
      api/zi_xymotor.hpp
  6. 4
      cmdid.hpp
  7. 31
      protocol_parser.cpp
  8. 29
      protocol_proxy.cpp
  9. 37
      protocol_proxy.hpp
  10. 30
      zmodule_device_manager.cpp
  11. 35
      zmodule_device_manager.hpp
  12. 43
      zmodule_device_script_cmder_paser.cpp

58
api/errorcode.cpp
View File

@ -9,6 +9,20 @@ const char* error2str(int32_t code) {
switch (code) { switch (code) {
ERR2STR(ksucc); ERR2STR(ksucc);
ERR2STR(kfail); ERR2STR(kfail);
ERR2STR(kparam_out_of_range);
ERR2STR(koperation_not_support);
ERR2STR(kdevice_is_busy);
ERR2STR(kdevice_is_offline);
ERR2STR(kovertime);
ERR2STR(knoack);
ERR2STR(kerrorack);
ERR2STR(kdevice_offline);
ERR2STR(kparse_json_err);
ERR2STR(ksubdevice_overtime);
ERR2STR(kbuffer_not_enough);
ERR2STR(kcmd_not_found);
ERR2STR(kcmd_param_num_error);
ERR2STR(kcheckcode_is_error);
ERR2STR(ksys_error); ERR2STR(ksys_error);
ERR2STR(ksys_create_file_error); ERR2STR(ksys_create_file_error);
ERR2STR(ksys_create_dir_error); ERR2STR(ksys_create_dir_error);
@ -21,36 +35,17 @@ const char* error2str(int32_t code) {
ERR2STR(ksys_delete_file_error); ERR2STR(ksys_delete_file_error);
ERR2STR(ksys_delete_dir_error); ERR2STR(ksys_delete_dir_error);
ERR2STR(ksys_copy_file_error); ERR2STR(ksys_copy_file_error);
ERR2STR(kce_device_not_zero);
ERR2STR(kce_over_temperature);
ERR2STR(kce_over_voltage);
ERR2STR(kce_param_out_of_range);
ERR2STR(kce_not_found_zero_point);
ERR2STR(kce_not_found_x_zero_point);
ERR2STR(kce_not_found_y_zero_point);
ERR2STR(kce_x_leave_away_zero_point_fail);
ERR2STR(kce_y_leave_away_zero_point_fail);
ERR2STR(kce_operation_not_support);
ERR2STR(kce_device_is_busy);
ERR2STR(kce_device_is_offline);
ERR2STR(kce_break_by_user);
ERR2STR(kce_overtime);
ERR2STR(kce_noack);
ERR2STR(kce_errorack);
ERR2STR(kce_device_offline);
ERR2STR(kce_parse_json_err);
ERR2STR(kce_subdevice_overtime);
ERR2STR(kdbe_user_not_exist);
ERR2STR(kdbe_catch_exception);
ERR2STR(kharde_unfound);
ERR2STR(kre_catch_exception);
ERR2STR(kinteraction_error_passwd_error);
ERR2STR(kinteraction_error_user_not_exist);
ERR2STR(kce_buffer_not_enough);
ERR2STR(kce_cmd_not_found);
ERR2STR(kce_cmd_param_num_error);
ERR2STR(kce_no_such_module);
ERR2STR(kmodule_not_inited);
ERR2STR(kmodule_not_found);
ERR2STR(kmodule_opeation_break_by_user);
ERR2STR(kmotor_not_found_zero_point);
ERR2STR(kmotor_did_not_go_zero);
ERR2STR(kmotor_over_temperature);
ERR2STR(kmotor_over_voltage);
ERR2STR(kxymotor_not_found_x_zero_point);
ERR2STR(kxymotor_not_found_y_zero_point);
ERR2STR(kxymotor_x_find_zero_edge_fail);
ERR2STR(kxymotor_y_find_zero_edge_fail);
ERR2STR(kSMTP2_NoError); ERR2STR(kSMTP2_NoError);
ERR2STR(kSMTP2_InitFail); ERR2STR(kSMTP2_InitFail);
ERR2STR(kSMTP2_InvalidCmd); ERR2STR(kSMTP2_InvalidCmd);
@ -73,6 +68,9 @@ const char* error2str(int32_t code) {
ERR2STR(kSMTP2_VolumeError); ERR2STR(kSMTP2_VolumeError);
ERR2STR(kSMTP2_TipAlreadyLoad); ERR2STR(kSMTP2_TipAlreadyLoad);
ERR2STR(kSMTP2_TipLoadFail); ERR2STR(kSMTP2_TipLoadFail);
ERR2STR(kmicro_noErr);
ERR2STR(kmicro_uartSendFail);
ERR2STR(kmicro_uartRecvFail);
default: default:
return "known"; return "known";
break; break;

113
api/errorcode.hpp
View File

@ -10,6 +10,20 @@ using namespace std;
typedef enum { typedef enum {
ksucc = ERROR_CODE(0, 0), ksucc = ERROR_CODE(0, 0),
kfail = ERROR_CODE(0, 1), 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),
/** /**
* @brief 系统错误 * @brief 系统错误
@ -28,75 +42,56 @@ typedef enum {
ksys_copy_file_error = ERROR_CODE(100, 11), ksys_copy_file_error = ERROR_CODE(100, 11),
/** /**
* @brief 50000通用
* @brief module error
*/ */
kce_device_not_zero = ERROR_CODE(10000, 0), // 设备未归零
kce_over_temperature = ERROR_CODE(10000, 1), // 过温
kce_over_voltage = ERROR_CODE(10000, 2), // 过压
kce_param_out_of_range = ERROR_CODE(10000, 3), // 参数超出范围
kce_not_found_zero_point = ERROR_CODE(10000, 4), // 未找到零点
kce_not_found_x_zero_point = ERROR_CODE(10000, 5), // 未找到零点
kce_not_found_y_zero_point = ERROR_CODE(10000, 6), // 未找到零点
kce_x_leave_away_zero_point_fail = ERROR_CODE(10000, 7), // 离开零点失败
kce_y_leave_away_zero_point_fail = ERROR_CODE(10000, 8), // 离开零点失败
kce_operation_not_support = ERROR_CODE(10000, 9), // 操作不支持
kce_device_is_busy = ERROR_CODE(10000, 10), // 设备忙
kce_device_is_offline = ERROR_CODE(10000, 11), // 设备离线
kce_break_by_user = ERROR_CODE(10000, 12), // 用户中断
kce_overtime = ERROR_CODE(10000, 13),
kce_noack = ERROR_CODE(10000, 14),
kce_errorack = ERROR_CODE(10000, 15),
kce_device_offline = ERROR_CODE(10000, 16),
kce_parse_json_err = ERROR_CODE(10000, 17),
kce_subdevice_overtime = ERROR_CODE(10000, 18),
kdbe_user_not_exist = ERROR_CODE(10000, 19),
kdbe_catch_exception = ERROR_CODE(10000, 20),
kharde_unfound = ERROR_CODE(10000, 21),
kre_catch_exception = ERROR_CODE(10000, 22),
kinteraction_error_passwd_error = ERROR_CODE(10000, 23), // 密码错误
kinteraction_error_user_not_exist = ERROR_CODE(10000, 24), // 用户不存在
kce_buffer_not_enough = ERROR_CODE(10000, 25),
kce_cmd_not_found = ERROR_CODE(10000, 26),
kce_cmd_param_num_error = ERROR_CODE(10000, 27),
kce_no_such_module = ERROR_CODE(10000, 28),
kce_modbusCRC16checkfail = ERROR_CODE(10000, 29),
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
/** /**
* @brief STMP2错误
* @brief motor error
*/ */
kSMTP2_NoError = ERROR_CODE(20000, 0), // 无错误
kSMTP2_InitFail = ERROR_CODE(20000, 1), // 初始化失败
kSMTP2_InvalidCmd = ERROR_CODE(20000, 2), // 无效命令
kSMTP2_InvalidArg = ERROR_CODE(20000, 3), // 无效参数
kSMTP2_PressureSensorError = ERROR_CODE(20000, 4), // 压力传感器故障
kSMTP2_OverPressure = ERROR_CODE(20000, 5), // 超过压力
kSMTP2_LLDError = ERROR_CODE(20000, 6), // LLD 错误
kSMTP2_DeviceNotInit = ERROR_CODE(20000, 7), // 设备未初始化
kSMTP2_TipPopError = ERROR_CODE(20000, 8), // Tip 弹出错误
kSMTP2_PumpOverload = ERROR_CODE(20000, 9), // 泵过载
kSMTP2_TipDrop = ERROR_CODE(20000, 10), // Tip 脱落
kSMTP2_CanBusError = ERROR_CODE(20000, 11), // CAN 总线故障
kSMTP2_InvalidChecksum = ERROR_CODE(20000, 12), // 无效校验和
kSMTP2_EEPROMError = ERROR_CODE(20000, 13), // EEPROM 故障
kSMTP2_CmdBufferEmpty = ERROR_CODE(20000, 14), // 命令缓冲区为空
kSMTP2_CmdBufferOverflow = ERROR_CODE(20000, 15), // 命令溢出
kSMTP2_TipBlock = ERROR_CODE(20000, 16), // Tip 堵塞
kSMTP2_AirSuction = ERROR_CODE(20000, 17), // 吸入空气
kSMTP2_Bubble = ERROR_CODE(20000, 18), // 液体中有气泡/泡沫
kSMTP2_VolumeError = ERROR_CODE(20000, 19), // 吸取/分配量不准确
kSMTP2_TipAlreadyLoad = ERROR_CODE(20000, 20), // Tip已经装载
kSMTP2_TipLoadFail = ERROR_CODE(20000, 21),
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
/** /**
* @brief 单片机硬件错误
* @brief STMP2错误
*/ */
kmicro_noErr = ERROR_CODE(20050, 0), //
kmicro_uartSendFail = ERROR_CODE(20050, 1), //
kmicro_uartRecvFail = ERROR_CODE(20050, 2), //
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 modbus错误
* @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), //
} error_t; } error_t;

20
api/zi_module.hpp
View File

@ -13,17 +13,19 @@ class ZIModule {
virtual int32_t getid(int32_t *id) = 0; virtual int32_t getid(int32_t *id) = 0;
virtual int32_t stop() = 0;
virtual int32_t brake() = 0;
virtual int32_t get_last_exec_status(int32_t *status) = 0;
virtual int32_t get_status(int32_t *status) = 0;
virtual int32_t module_stop() = 0;
virtual int32_t module_break() = 0;
virtual int32_t module_get_last_exec_status(int32_t *status) = 0;
virtual int32_t module_get_status(int32_t *status) = 0;
virtual int32_t module_get_error(int32_t *iserror) = 0;
virtual int32_t module_clear_error() = 0;
virtual int32_t set_param( int32_t param_id, int32_t param_value) { return err::kce_operation_not_support; }
virtual int32_t get_param( int32_t param_id, int32_t *param_value) { return err::kce_operation_not_support; }
virtual int32_t module_set_param(int32_t param_id, int32_t param_value) { return err::koperation_not_support; }
virtual int32_t module_get_param(int32_t param_id, int32_t *param_value) { return err::koperation_not_support; }
virtual int32_t readio(int32_t *io) { return err::kce_operation_not_support; }
virtual int32_t writeio(int32_t io) { return err::kce_operation_not_support; }
virtual int32_t module_readio(int32_t *io) { return err::koperation_not_support; }
virtual int32_t module_writeio(int32_t io) { return err::koperation_not_support; }
virtual int32_t read_adc(int adcindex, int32_t *adc) { return err::kce_operation_not_support; }
virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) { return err::koperation_not_support; }
}; };
} // namespace iflytop } // namespace iflytop

10
api/zi_motor.hpp
View File

@ -10,11 +10,11 @@ using namespace std;
class ZIMotor { class ZIMotor {
public: public:
virtual ~ZIMotor() {} virtual ~ZIMotor() {}
virtual int32_t motor_enable(int32_t enable) { return err::kce_operation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t velocitylevel) { return err::kce_operation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t velocitylevel) { return err::kce_operation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t velocitylevel) { return err::kce_operation_not_support; }
virtual int32_t motor_move_to_with_torque(int32_t pos, int32_t torque) { return err::kce_operation_not_support; }
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to_with_torque(int32_t pos, int32_t torque) { return err::koperation_not_support; }
// s32 pos, s32 speed, s32 torque, // s32 pos, s32 speed, s32 torque,
}; };

6
api/zi_xymotor.hpp
View File

@ -10,8 +10,8 @@ using namespace std;
class ZIXYMotor { class ZIXYMotor {
public: public:
virtual ~ZIXYMotor() {} virtual ~ZIXYMotor() {}
virtual int32_t xymotor_enable(bool enable) { return err::kce_operation_not_support; }
virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t velocitylevel) { return err::kce_operation_not_support; }
virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t velocitylevel) { return err::kce_operation_not_support; }
virtual int32_t xymotor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) { return err::koperation_not_support; }
virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) { return err::koperation_not_support; }
}; };
} // namespace iflytop } // namespace iflytop

4
cmdid.hpp
View File

@ -5,7 +5,7 @@ namespace iflytop {
namespace zcr { namespace zcr {
typedef enum { typedef enum {
kmodule_stop = CMDID(1, 1), // para:{}, ack:{} kmodule_stop = CMDID(1, 1), // para:{}, ack:{}
kmodule_brake = CMDID(1, 2), // para:{}, ack:{}
kmodule_break = CMDID(1, 2), // para:{}, ack:{}
kmodule_get_last_exec_status = CMDID(1, 3), // para:{}, ack:{4} kmodule_get_last_exec_status = CMDID(1, 3), // para:{}, ack:{4}
kmodule_get_status = CMDID(1, 4), // para:{}, ack:{4} kmodule_get_status = CMDID(1, 4), // para:{}, ack:{4}
kmodule_set_param = CMDID(1, 5), // para:{4,4}, ack:{} kmodule_set_param = CMDID(1, 5), // para:{4,4}, ack:{}
@ -13,6 +13,8 @@ typedef enum {
kmodule_readio = CMDID(1, 7), // para:{}, ack:{4} kmodule_readio = CMDID(1, 7), // para:{}, ack:{4}
kmodule_writeio = CMDID(1, 8), // para:{4}, ack:{} kmodule_writeio = CMDID(1, 8), // para:{4}, ack:{}
kmodule_read_adc = CMDID(1, 9), // para:{4}, ack:{4} kmodule_read_adc = CMDID(1, 9), // para:{4}, ack:{4}
kmodule_get_error = CMDID(1, 10), // para:{}, ack:{1}
kmodule_clear_error = CMDID(1, 11), // para:{}, ack:{}
kmotor_enable = CMDID(2, 1), // para:{1}, ack:{} kmotor_enable = CMDID(2, 1), // para:{1}, ack:{}
kmotor_rotate = CMDID(2, 2), // para:{1,4}, ack:{} kmotor_rotate = CMDID(2, 2), // para:{1,4}, ack:{}

31
protocol_parser.cpp
View File

@ -10,13 +10,13 @@ using namespace std;
if (cmdid == var_cmdid) { \ if (cmdid == var_cmdid) { \
auto* mod = dynamic_cast<var_moduleType*>(module); \ auto* mod = dynamic_cast<var_moduleType*>(module); \
if (mod == nullptr) { \ if (mod == nullptr) { \
m_cancmder->sendErrorAck(rxcmd, err::kce_operation_not_support); \
m_cancmder->sendErrorAck(rxcmd, err::koperation_not_support); \
return; \ return; \
} }
#define CHECK_PARAM_NUM(num) \ #define CHECK_PARAM_NUM(num) \
if (paramNum != num) { \ if (paramNum != num) { \
m_cancmder->sendErrorAck(rxcmd, err::kce_cmd_param_num_error); \
m_cancmder->sendErrorAck(rxcmd, err::kcmd_param_num_error); \
return; \ return; \
} }
@ -76,22 +76,25 @@ void ZIProtocolParser::onRceivePacket(cmd_header_t* rxcmd, uint8_t* data, int32_
/******************************************************************************* /*******************************************************************************
* module * * module *
*******************************************************************************/ *******************************************************************************/
PROCESS_PACKET_00(kmodule_stop, ZIModule, stop);
PROCESS_PACKET_00(kmodule_brake, ZIModule, brake);
PROCESS_PACKET_01(kmodule_get_last_exec_status, ZIModule, get_last_exec_status);
PROCESS_PACKET_01(kmodule_get_status, ZIModule, get_status);
PROCESS_PACKET_20(kmodule_set_param, ZIModule, set_param);
PROCESS_PACKET_11(kmodule_get_param, ZIModule, get_param);
PROCESS_PACKET_01(kmodule_readio, ZIModule, readio);
PROCESS_PACKET_10(kmodule_writeio, ZIModule, writeio);
PROCESS_PACKET_11(kmodule_read_adc, ZIModule, read_adc);
PROCESS_PACKET_00(kmodule_stop, ZIModule, module_stop);
PROCESS_PACKET_00(kmodule_break, ZIModule, module_break);
PROCESS_PACKET_01(kmodule_get_last_exec_status, ZIModule, module_get_last_exec_status);
PROCESS_PACKET_01(kmodule_get_status, ZIModule, module_get_status);
PROCESS_PACKET_20(kmodule_set_param, ZIModule, module_set_param);
PROCESS_PACKET_11(kmodule_get_param, ZIModule, module_get_param);
PROCESS_PACKET_01(kmodule_readio, ZIModule, module_readio);
PROCESS_PACKET_10(kmodule_writeio, ZIModule, module_writeio);
PROCESS_PACKET_11(kmodule_read_adc, ZIModule, module_read_adc);
PROCESS_PACKET_01(kmodule_get_error, ZIModule, module_get_error);
PROCESS_PACKET_00(kmodule_clear_error, ZIModule, module_clear_error);
/******************************************************************************* /*******************************************************************************
* motor * * motor *
*******************************************************************************/ *******************************************************************************/
PROCESS_PACKET_10(kmotor_enable, ZIMotor, motor_enable); PROCESS_PACKET_10(kmotor_enable, ZIMotor, motor_enable);
PROCESS_PACKET_20(kmotor_rotate, ZIMotor, motor_rotate);
PROCESS_PACKET_20(kmotor_move_by, ZIMotor, motor_move_by);
PROCESS_PACKET_20(kmotor_move_to, ZIMotor, motor_move_to);
PROCESS_PACKET_30(kmotor_rotate, ZIMotor, motor_rotate);
PROCESS_PACKET_30(kmotor_move_by, ZIMotor, motor_move_by);
PROCESS_PACKET_30(kmotor_move_to, ZIMotor, motor_move_to);
PROCESS_PACKET_20(kmotor_move_to_with_torque, ZIMotor, motor_move_to_with_torque); PROCESS_PACKET_20(kmotor_move_to_with_torque, ZIMotor, motor_move_to_with_torque);
/******************************************************************************* /*******************************************************************************
* xymotor * * xymotor *

29
protocol_proxy.cpp
View File

@ -68,29 +68,28 @@ using namespace iflytop;
#define PROXY_IMPL_32(cmdindex) PROXY_IMPL_XX(cmdindex, 3, 2, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X2_ACK()); #define PROXY_IMPL_32(cmdindex) PROXY_IMPL_XX(cmdindex, 3, 2, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X2_ACK());
#define PROXY_IMPL_33(cmdindex) PROXY_IMPL_XX(cmdindex, 3, 3, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X3_ACK()); #define PROXY_IMPL_33(cmdindex) PROXY_IMPL_XX(cmdindex, 3, 3, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X3_ACK());
int32_t ZIProtocolProxy::module_stop() { PROXY_IMPL_00(kmodule_stop); }
int32_t ZIProtocolProxy::module_break() { PROXY_IMPL_00(kmodule_break); }
int32_t ZIProtocolProxy::module_get_last_exec_status(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_last_exec_status); }
int32_t ZIProtocolProxy::module_get_status(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_status); }
int32_t ZIProtocolProxy::module_set_param(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmodule_set_param); }
int32_t ZIProtocolProxy::module_get_param(int32_t para0, int32_t *ack0) { PROXY_IMPL_11(kmodule_get_param); }
int32_t ZIProtocolProxy::module_readio(int32_t *ack0) { PROXY_IMPL_01(kmodule_readio); }
int32_t ZIProtocolProxy::module_writeio(int32_t para0) { PROXY_IMPL_10(kmodule_writeio); }
int32_t ZIProtocolProxy::stop() { PROXY_IMPL_00(kmodule_stop); }
int32_t ZIProtocolProxy::brake() { PROXY_IMPL_00(kmodule_brake); }
int32_t ZIProtocolProxy::get_last_exec_status(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_last_exec_status); }
int32_t ZIProtocolProxy::get_status(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_status); }
int32_t ZIProtocolProxy::set_param(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmodule_set_param); }
int32_t ZIProtocolProxy::get_param(int32_t para0, int32_t *ack0) { PROXY_IMPL_11(kmodule_get_param); }
int32_t ZIProtocolProxy::readio(int32_t *ack0) { PROXY_IMPL_01(kmodule_readio); }
int32_t ZIProtocolProxy::writeio(int32_t para0) { PROXY_IMPL_10(kmodule_writeio); }
int32_t ZIProtocolProxy::read_adc(int para0, int32_t *ack0) { PROXY_IMPL_11(kmodule_read_adc); }
int32_t ZIProtocolProxy::module_read_adc(int32_t para0, int32_t *ack0) { PROXY_IMPL_11(kmodule_read_adc); }
int32_t ZIProtocolProxy::module_get_error(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_error); }
int32_t ZIProtocolProxy::module_clear_error() { PROXY_IMPL_00(kmodule_clear_error); }
/******************************************************************************* /*******************************************************************************
* ZIMotor * * ZIMotor *
*******************************************************************************/ *******************************************************************************/
int32_t ZIProtocolProxy::motor_enable(int32_t para0) { PROXY_IMPL_10(kmotor_enable); } int32_t ZIProtocolProxy::motor_enable(int32_t para0) { PROXY_IMPL_10(kmotor_enable); }
int32_t ZIProtocolProxy::motor_rotate(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmotor_rotate); }
int32_t ZIProtocolProxy::motor_move_by(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmotor_move_by); }
int32_t ZIProtocolProxy::motor_move_to(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmotor_move_to); }
int32_t ZIProtocolProxy::motor_rotate(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_rotate); }
int32_t ZIProtocolProxy::motor_move_by(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_by); }
int32_t ZIProtocolProxy::motor_move_to(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to); }
int32_t ZIProtocolProxy::motor_move_to_with_torque(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmotor_move_to_with_torque); } int32_t ZIProtocolProxy::motor_move_to_with_torque(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmotor_move_to_with_torque); }
/******************************************************************************* /*******************************************************************************

37
protocol_proxy.hpp
View File

@ -24,35 +24,38 @@ class ZIProtocolProxy : public ZIMotor, //
/******************************************************************************* /*******************************************************************************
* ZIModule * * ZIModule *
*******************************************************************************/ *******************************************************************************/
virtual int32_t stop();
virtual int32_t brake();
virtual int32_t get_last_exec_status(int32_t *status);
virtual int32_t get_status(int32_t *status);
virtual int32_t module_stop() override;
virtual int32_t module_break() override;
virtual int32_t module_get_last_exec_status(int32_t *status) override;
virtual int32_t module_get_status(int32_t *status) override;
virtual int32_t set_param(int32_t param_id, int32_t param_value);
virtual int32_t get_param(int32_t param_id, int32_t *param_value);
virtual int32_t module_set_param(int32_t param_id, int32_t param_value) override;
virtual int32_t module_get_param(int32_t param_id, int32_t *param_value) override;
virtual int32_t readio(int32_t *io);
virtual int32_t writeio(int32_t io);
virtual int32_t module_readio(int32_t *io) override;
virtual int32_t module_writeio(int32_t io) override;
virtual int32_t read_adc(int adcindex, int32_t *adc);
virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) override;
virtual int32_t module_get_error(int32_t *iserror) override;
virtual int32_t module_clear_error() override;
/******************************************************************************* /*******************************************************************************
* ZIMotor * * ZIMotor *
*******************************************************************************/ *******************************************************************************/
virtual int32_t motor_enable(int32_t enable);
virtual int32_t motor_rotate(int32_t direction, int32_t velocitylevel);
virtual int32_t motor_move_by(int32_t distance, int32_t velocitylevel);
virtual int32_t motor_move_to(int32_t position, int32_t velocitylevel);
virtual int32_t motor_move_to_with_torque(int32_t pos, int32_t torque);
virtual int32_t motor_enable(int32_t enable) override;
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_by(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to_with_torque(int32_t pos, int32_t torque) override;
/******************************************************************************* /*******************************************************************************
* ZIXYMotor * * ZIXYMotor *
*******************************************************************************/ *******************************************************************************/
virtual int32_t xymotor_enable(int32_t enable);
virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t velocitylevel);
virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t velocitylevel);
virtual int32_t xymotor_enable(int32_t enable) override;
virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) override;
virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) override;
}; };
} // namespace iflytop } // namespace iflytop

30
zmodule_device_manager.cpp
View File

@ -12,26 +12,28 @@ using namespace std;
/******************************************************************************* /*******************************************************************************
* ZIModule * * ZIModule *
*******************************************************************************/ *******************************************************************************/
int32_t ZModuleDeviceManager::stop(uint16_t id) { PROXY_IMPL(ZIModule, stop); }
int32_t ZModuleDeviceManager::brake(uint16_t id) { PROXY_IMPL(ZIModule, brake); }
int32_t ZModuleDeviceManager::get_last_exec_status(uint16_t id, int32_t *ack0) { PROXY_IMPL(ZIModule, get_last_exec_status, ack0); }
int32_t ZModuleDeviceManager::get_status(uint16_t id, int32_t *status) { PROXY_IMPL(ZIModule, get_status, status); }
int32_t ZModuleDeviceManager::set_param(uint16_t id, int32_t param_id, int32_t param_value) { PROXY_IMPL(ZIModule, set_param, param_id, param_value); }
int32_t ZModuleDeviceManager::get_param(uint16_t id, int32_t param_id, int32_t *param_value) { PROXY_IMPL(ZIModule, get_param, param_id, param_value); }
int32_t ZModuleDeviceManager::readio(uint16_t id, int32_t *io) { PROXY_IMPL(ZIModule, readio, io); }
int32_t ZModuleDeviceManager::writeio(uint16_t id, int32_t io) { PROXY_IMPL(ZIModule, writeio, io); }
int32_t ZModuleDeviceManager::read_adc(uint16_t id, int adcindex, int32_t *adc) { PROXY_IMPL(ZIModule, read_adc, adcindex, adc); }
int32_t ZModuleDeviceManager::module_stop(uint16_t id) { PROXY_IMPL(ZIModule, module_stop); }
int32_t ZModuleDeviceManager::module_break(uint16_t id) { PROXY_IMPL(ZIModule, module_break); }
int32_t ZModuleDeviceManager::module_get_last_exec_status(uint16_t id, int32_t *ack0) { PROXY_IMPL(ZIModule, module_get_last_exec_status, ack0); }
int32_t ZModuleDeviceManager::module_get_status(uint16_t id, int32_t *status) { PROXY_IMPL(ZIModule, module_get_status, status); }
int32_t ZModuleDeviceManager::module_set_param(uint16_t id, int32_t param_id, int32_t param_value) { PROXY_IMPL(ZIModule, module_set_param, param_id, param_value); }
int32_t ZModuleDeviceManager::module_get_param(uint16_t id, int32_t param_id, int32_t *param_value) { PROXY_IMPL(ZIModule, module_get_param, param_id, param_value); }
int32_t ZModuleDeviceManager::module_readio(uint16_t id, int32_t *io) { PROXY_IMPL(ZIModule, module_readio, io); }
int32_t ZModuleDeviceManager::module_writeio(uint16_t id, int32_t io) { PROXY_IMPL(ZIModule, module_writeio, io); }
int32_t ZModuleDeviceManager::module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc) { PROXY_IMPL(ZIModule, module_read_adc, adcindex, adc); }
int32_t ZModuleDeviceManager::module_get_error(uint16_t id, int32_t *iserror) { PROXY_IMPL(ZIModule, module_get_error, iserror); }
int32_t ZModuleDeviceManager::module_clear_error(uint16_t id) { PROXY_IMPL(ZIModule, module_clear_error); }
/******************************************************************************* /*******************************************************************************
* ZIMotor * * ZIMotor *
*******************************************************************************/ *******************************************************************************/
int32_t ZModuleDeviceManager::motor_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIMotor, motor_enable, enable); } int32_t ZModuleDeviceManager::motor_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIMotor, motor_enable, enable); }
int32_t ZModuleDeviceManager::motor_rotate(uint16_t id, int32_t direction, int32_t velocitylevel) { PROXY_IMPL(ZIMotor, motor_rotate, direction, velocitylevel); }
int32_t ZModuleDeviceManager::motor_move_by(uint16_t id, int32_t distance, int32_t velocitylevel) { PROXY_IMPL(ZIMotor, motor_move_by, distance, velocitylevel); }
int32_t ZModuleDeviceManager::motor_move_to(uint16_t id, int32_t position, int32_t velocitylevel) { PROXY_IMPL(ZIMotor, motor_move_to, position, velocitylevel); }
int32_t ZModuleDeviceManager::motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_rotate, direction, motor_velocity, acc); }
int32_t ZModuleDeviceManager::motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_move_by, distance, motor_velocity, acc); }
int32_t ZModuleDeviceManager::motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_move_to, position, motor_velocity, acc); }
int32_t ZModuleDeviceManager::motor_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque) { PROXY_IMPL(ZIMotor, motor_move_to_with_torque, pos, torque); } int32_t ZModuleDeviceManager::motor_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque) { PROXY_IMPL(ZIMotor, motor_move_to_with_torque, pos, torque); }
/******************************************************************************* /*******************************************************************************
* ZIXYMotor * * ZIXYMotor *
*******************************************************************************/ *******************************************************************************/
int32_t ZModuleDeviceManager::xymotor_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIXYMotor, xymotor_enable, enable); } int32_t ZModuleDeviceManager::xymotor_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIXYMotor, xymotor_enable, enable); }
int32_t ZModuleDeviceManager::xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t velocitylevel) { PROXY_IMPL(ZIXYMotor, xymotor_move_by, dx, dy, velocitylevel); }
int32_t ZModuleDeviceManager::xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t velocitylevel) { PROXY_IMPL(ZIXYMotor, xymotor_move_to, x, y, velocitylevel); }
int32_t ZModuleDeviceManager::xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t motor_velocity) { PROXY_IMPL(ZIXYMotor, xymotor_move_by, dx, dy, motor_velocity); }
int32_t ZModuleDeviceManager::xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t motor_velocity) { PROXY_IMPL(ZIXYMotor, xymotor_move_to, x, y, motor_velocity); }

35
zmodule_device_manager.hpp
View File

@ -17,47 +17,50 @@ class ZModuleDeviceManager {
/******************************************************************************* /*******************************************************************************
* ZIModule * * ZIModule *
*******************************************************************************/ *******************************************************************************/
int32_t stop(uint16_t id);
int32_t brake(uint16_t id);
int32_t module_stop(uint16_t id);
int32_t module_break(uint16_t id);
int32_t get_last_exec_status(uint16_t id, int32_t *status);
int32_t get_status(uint16_t id, int32_t *status);
int32_t module_get_last_exec_status(uint16_t id, int32_t *status);
int32_t module_get_status(uint16_t id, int32_t *status);
int32_t set_param(uint16_t id, int32_t param_id, int32_t param_value);
int32_t get_param(uint16_t id, int32_t param_id, int32_t *param_value);
int32_t module_set_param(uint16_t id, int32_t param_id, int32_t param_value);
int32_t module_get_param(uint16_t id, int32_t param_id, int32_t *param_value);
int32_t readio(uint16_t id, int32_t *io);
int32_t writeio(uint16_t id, int32_t io);
int32_t module_readio(uint16_t id, int32_t *io);
int32_t module_writeio(uint16_t id, int32_t io);
int32_t read_adc(uint16_t id, int adcindex, int32_t *adc);
int32_t module_read_adc(uint16_t id, int adcindex, int32_t *adc);
int32_t module_get_error(uint16_t id, int32_t *iserror);
int32_t module_clear_error(uint16_t id);
/******************************************************************************* /*******************************************************************************
* ZIMotor * * ZIMotor *
*******************************************************************************/ *******************************************************************************/
int32_t motor_enable(uint16_t id, int32_t enable); int32_t motor_enable(uint16_t id, int32_t enable);
int32_t motor_rotate(uint16_t id, int32_t direction, int32_t velocitylevel);
int32_t motor_move_by(uint16_t id, int32_t distance, int32_t velocitylevel);
int32_t motor_move_to(uint16_t id, int32_t position, int32_t velocitylevel);
int32_t motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc);
int32_t motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc);
int32_t motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc);
int32_t motor_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque); int32_t motor_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque);
/******************************************************************************* /*******************************************************************************
* ZIXYMotor * * ZIXYMotor *
*******************************************************************************/ *******************************************************************************/
int32_t xymotor_enable(uint16_t id, int32_t enable); int32_t xymotor_enable(uint16_t id, int32_t enable);
int32_t xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t velocitylevel);
int32_t xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t velocitylevel);
int32_t xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t motor_velocity);
int32_t xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t motor_velocity);
private: private:
template <typename T> template <typename T>
int32_t findModule(uint16_t id, T **module) { int32_t findModule(uint16_t id, T **module) {
auto it = m_modulers.find(id); auto it = m_modulers.find(id);
if (it == m_modulers.end()) { if (it == m_modulers.end()) {
return err::kce_no_such_module;
return err::kmodule_not_found;
} }
T *_module = dynamic_cast<T *>(it->second); T *_module = dynamic_cast<T *>(it->second);
if (_module == nullptr) { if (_module == nullptr) {
return err::kce_operation_not_support;
return err::koperation_not_support;
} }
*module = _module; *module = _module;
return 0; return 0;

43
zmodule_device_script_cmder_paser.cpp
View File

@ -1,4 +1,5 @@
#include "zmodule_device_script_cmder_paser.hpp" #include "zmodule_device_script_cmder_paser.hpp"
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
@ -12,8 +13,6 @@ using namespace std;
ack->rawlen = XACK * 4; \ ack->rawlen = XACK * 4; \
}); });
#define PROCESS_PACKET_00(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 0) #define PROCESS_PACKET_00(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 0)
#define PROCESS_PACKET_01(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 1, ack->getAck(0)) #define PROCESS_PACKET_01(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 1, ack->getAck(0))
#define PROCESS_PACKET_02(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 2, ack->getAck(0), ack->getAck(1)) #define PROCESS_PACKET_02(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 2, ack->getAck(0), ack->getAck(1))
@ -40,23 +39,25 @@ using namespace std;
#define PROCESS_PACKET_43(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 4, 3, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), ack->getAck(0), ack->getAck(1), ack->getAck(2)) #define PROCESS_PACKET_43(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 4, 3, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), ack->getAck(0), ack->getAck(1), ack->getAck(2))
void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager) { void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager) {
PROCESS_PACKET_10(stop, "stop (id)");
PROCESS_PACKET_10(brake, "brake (id)");
PROCESS_PACKET_11(get_last_exec_status, "get_last_exec_status (id)");
PROCESS_PACKET_11(get_status, "get_status (id)");
PROCESS_PACKET_30(set_param, "set_param (id, param_id, param_value)");
PROCESS_PACKET_21(get_param, "get_param (id, param_id)");
PROCESS_PACKET_11(readio, "readio (id)");
PROCESS_PACKET_20(writeio, "writeio (id, io)");
PROCESS_PACKET_21(read_adc, "read_adc (id, adcindex)");
PROCESS_PACKET_20(motor_enable, "motor_enable (id, enable)");
PROCESS_PACKET_30(motor_rotate, "motor_rotate (id, direction, velocitylevel)");
PROCESS_PACKET_30(motor_move_by, "motor_move_by (id, distance, velocitylevel)");
PROCESS_PACKET_30(motor_move_to, "motor_move_to (id, position, velocitylevel)");
PROCESS_PACKET_30(motor_move_to_with_torque, "motor_move_to_with_torque (id, pos, torque)");
PROCESS_PACKET_20(xymotor_enable, "xymotor_enable (id, enable)");
PROCESS_PACKET_40(xymotor_move_by, "xymotor_move_by (id, dx, dy, velocitylevel)");
PROCESS_PACKET_40(xymotor_move_to, "xymotor_move_to (id, x, y, velocitylevel)");
PROCESS_PACKET_10(module_stop, "stop (mid)");
PROCESS_PACKET_10(module_break, "module_break (mid)");
PROCESS_PACKET_11(module_get_last_exec_status, "get_last_exec_status (mid)");
PROCESS_PACKET_11(module_get_status, "get_status (mid)");
PROCESS_PACKET_30(module_set_param, "set_param (mid, param_id, param_value)");
PROCESS_PACKET_21(module_get_param, "get_param (mid, param_id)");
PROCESS_PACKET_11(module_readio, "readio (mid)");
PROCESS_PACKET_20(module_writeio, "writeio (mid, io)");
PROCESS_PACKET_21(module_read_adc, "read_adc (mid,adc_id, adcindex)");
PROCESS_PACKET_11(module_get_error, "get_error (mid)");
PROCESS_PACKET_10(module_clear_error, "clear_error (mid)");
PROCESS_PACKET_20(motor_enable, "motor_enable (mid, enable)");
PROCESS_PACKET_40(motor_rotate, "motor_rotate (mid, direction, motor_velocity, acc)");
PROCESS_PACKET_40(motor_move_by, "motor_move_by (mid, distance, motor_velocity, acc)");
PROCESS_PACKET_40(motor_move_to, "motor_move_to (mid, position, motor_velocity, acc)");
PROCESS_PACKET_30(motor_move_to_with_torque, "motor_move_to_with_torque (mid, pos, torque)");
PROCESS_PACKET_20(xymotor_enable, "xymotor_enable (mid, enable)");
PROCESS_PACKET_40(xymotor_move_by, "xymotor_move_by (mid, dx, dy, motor_velocity)");
PROCESS_PACKET_40(xymotor_move_to, "xymotor_move_to (mid, x, y, motor_velocity)");
} }
Write Preview
Loading…
Cancel
Save