From e9e173b2cc1d43a6946ab7de8f21169e680e3b8f Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 27 Dec 2023 16:15:03 +0800
Subject: [PATCH] add new initialize to ZModuleDeviceManager

---
 zmodule_device_manager.cpp | 6 +++++-
 zmodule_device_manager.hpp | 8 +++++---
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/zmodule_device_manager.cpp b/zmodule_device_manager.cpp
index ea07a27..1aa7099 100644
--- a/zmodule_device_manager.cpp
+++ b/zmodule_device_manager.cpp
@@ -13,7 +13,10 @@ using namespace std;
   }                                               \
   return module->functionName(__VA_ARGS__);
 
-void ZModuleDeviceManager::initialize(IZcanCmderMaster *cancmder) {
+void ZModuleDeviceManager::initialize(IZcanCmderMaster *cancmder) { regCanCmder(cancmder); }
+void ZModuleDeviceManager::initialize() {}
+
+void ZModuleDeviceManager::regCanCmder(IZcanCmderMaster *cancmder) {
   m_cancmder = cancmder;
   // assert(m_cancmder != nullptr);
   if (m_cancmder) {
@@ -28,6 +31,7 @@ void ZModuleDeviceManager::initialize(IZcanCmderMaster *cancmder) {
     });
   }
 }
+
 void ZModuleDeviceManager::registerModule(ZIModule *module) {
   assert(module != nullptr);
   int32_t id = 0;
diff --git a/zmodule_device_manager.hpp b/zmodule_device_manager.hpp
index 298e59b..5e5558e 100644
--- a/zmodule_device_manager.hpp
+++ b/zmodule_device_manager.hpp
@@ -20,12 +20,15 @@ class ZModuleDeviceManager {
 
  public:
   void initialize(IZcanCmderMaster *m_cancmder);
+  void initialize();
+
+  void regCanCmder(IZcanCmderMaster *m_cancmder);
   void registerModule(ZIModule *module);
 
   void regOnRegValChangeEvent(regval_change_event_t on_regval_change_event) { m_on_reg_val_change_event_cbs.push_back(on_regval_change_event); }
   void callOnRegValChangeEvent(int32_t moduleid, int32_t regindex, int32_t oldval, int32_t toval) {
     for (auto &cb : m_on_reg_val_change_event_cbs)
-      if (cb) cb(moduleid, regindex, oldval,toval);
+      if (cb) cb(moduleid, regindex, oldval, toval);
   }
 
   void for_each_module(function<void(int32_t moduleid)> cb) {
@@ -138,7 +141,6 @@ class ZModuleDeviceManager {
   virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
   virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
 
-
 #endif
   virtual int32_t motor_enable(uint16_t id, int32_t enable);
   virtual int32_t motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc);
@@ -156,7 +158,7 @@ class ZModuleDeviceManager {
   virtual int32_t motor_move_to_zero_backward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
   virtual int32_t motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime);
   virtual int32_t motor_calculated_pos_by_move_to_zero(uint16_t id);
-  
+
   virtual int32_t motor_easy_rotate(uint16_t id, int32_t direction);
   virtual int32_t motor_easy_move_by(uint16_t id, int32_t distance);
   virtual int32_t motor_easy_move_to(uint16_t id, int32_t position);