6 changed files with 497 additions and 0 deletions
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128api/apibasic/temp_errorcode.hpp
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20api/apibasic/temp_module_type_index.hpp
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193api/apibasic/temp_reg_index.hpp
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46api/temp_zi_a8000_optical_module.hpp
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28api/temp_zi_event_bus.hpp
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82api/temp_zi_module.hpp
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#pragma once
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#include <stdint.h>
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namespace iflytop { |
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namespace err { |
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using namespace std; |
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#define ERROR_CODE(errortype, suberrorcode) (errortype + suberrorcode)
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typedef enum { |
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ksucc = ERROR_CODE(0, 0), |
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kfail = ERROR_CODE(0, 1), |
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kparam_out_of_range = ERROR_CODE(0, 2), // 参数超出范围
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koperation_not_support = ERROR_CODE(0, 3), // 操作不支持
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kdevice_is_busy = ERROR_CODE(0, 4), // 设备忙
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kdevice_is_offline = ERROR_CODE(0, 5), // 设备离线
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kovertime = ERROR_CODE(0, 6), |
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knoack = ERROR_CODE(0, 7), |
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kerrorack = ERROR_CODE(0, 8), |
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kdevice_offline = ERROR_CODE(0, 9), |
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kparse_json_err = ERROR_CODE(0, 10), |
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ksubdevice_overtime = ERROR_CODE(0, 11), |
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kbuffer_not_enough = ERROR_CODE(0, 12), |
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kcmd_not_found = ERROR_CODE(0, 13), |
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kcmd_param_num_error = ERROR_CODE(0, 14), |
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kcheckcode_is_error = ERROR_CODE(0, 15), |
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kcatch_exception = ERROR_CODE(0, 16), |
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khwardware_error_fan_error = ERROR_CODE(0, 17), |
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khwardware_error = ERROR_CODE(0, 18), |
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/**
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* @brief 系统错误 |
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*/ |
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ksys_error = ERROR_CODE(100, 0), |
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ksys_create_file_error = ERROR_CODE(100, 1), |
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ksys_create_dir_error = ERROR_CODE(100, 2), |
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ksys_open_file_error = ERROR_CODE(100, 3), |
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ksys_open_dir_error = ERROR_CODE(100, 4), |
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ksys_read_file_error = ERROR_CODE(100, 5), |
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ksys_write_file_error = ERROR_CODE(100, 6), |
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ksys_close_file_error = ERROR_CODE(100, 7), |
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ksys_close_dir_error = ERROR_CODE(100, 8), |
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ksys_delete_file_error = ERROR_CODE(100, 9), |
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ksys_delete_dir_error = ERROR_CODE(100, 10), |
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ksys_copy_file_error = ERROR_CODE(100, 11), |
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/**
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* @brief module error |
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*/ |
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kmodule_not_inited = ERROR_CODE(200, 0), |
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kmodule_not_found = ERROR_CODE(200, 1), |
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kmodule_opeation_break_by_user = ERROR_CODE(200, 2), // 用户中断
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kmodule_error = ERROR_CODE(200, 3), // 未知错误
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kmodule_not_find_config_index = ERROR_CODE(200, 4), // 未找到配置索引
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kmodule_not_find_state_index = ERROR_CODE(200, 5), // 未找到配置索引
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kmodule_not_support_action = ERROR_CODE(200, 6), // 未找到配置索引
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kmodule_not_find_reg = ERROR_CODE(200, 7), // 未找到配置索引
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/**
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* @brief motor error |
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*/ |
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kmotor_not_found_zero_point = ERROR_CODE(300, 0), // 未找到零点
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kmotor_did_not_go_zero = ERROR_CODE(300, 1), // 设备未归零
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kmotor_over_temperature = ERROR_CODE(300, 2), // 过温
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kmotor_over_voltage = ERROR_CODE(300, 3), // 过压
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kxymotor_not_found_x_zero_point = ERROR_CODE(300, 4), // 未找到零点
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kxymotor_not_found_y_zero_point = ERROR_CODE(300, 5), // 未找到零点
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kxymotor_x_find_zero_edge_fail = ERROR_CODE(300, 6), // 离开零点失败
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kxymotor_y_find_zero_edge_fail = ERROR_CODE(300, 7), // 离开零点失败
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kmotor_run_overtime = ERROR_CODE(300, 8), // 运行超时
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kmotor_not_enable = ERROR_CODE(300, 9), // 电机未使能
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/**
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* @brief STMP2错误 |
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*/ |
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kSMTP2_NoError = ERROR_CODE(400, 0), // 无错误
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kSMTP2_InitFail = ERROR_CODE(400, 1), // 初始化失败
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kSMTP2_InvalidCmd = ERROR_CODE(400, 2), // 无效命令
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kSMTP2_InvalidArg = ERROR_CODE(400, 3), // 无效参数
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kSMTP2_PressureSensorError = ERROR_CODE(400, 4), // 压力传感器故障
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kSMTP2_OverPressure = ERROR_CODE(400, 5), // 超过压力
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kSMTP2_LLDError = ERROR_CODE(400, 6), // LLD 错误
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kSMTP2_DeviceNotInit = ERROR_CODE(400, 7), // 设备未初始化
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kSMTP2_TipPopError = ERROR_CODE(400, 8), // Tip 弹出错误
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kSMTP2_PumpOverload = ERROR_CODE(400, 9), // 泵过载
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kSMTP2_TipDrop = ERROR_CODE(400, 10), // Tip 脱落
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kSMTP2_CanBusError = ERROR_CODE(400, 11), // CAN 总线故障
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kSMTP2_InvalidChecksum = ERROR_CODE(400, 12), // 无效校验和
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kSMTP2_EEPROMError = ERROR_CODE(400, 13), // EEPROM 故障
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kSMTP2_CmdBufferEmpty = ERROR_CODE(400, 14), // 命令缓冲区为空
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kSMTP2_CmdBufferOverflow = ERROR_CODE(400, 15), // 命令溢出
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kSMTP2_TipBlock = ERROR_CODE(400, 16), // Tip 堵塞
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kSMTP2_AirSuction = ERROR_CODE(400, 17), // 吸入空气
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kSMTP2_Bubble = ERROR_CODE(400, 18), // 液体中有气泡/泡沫
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kSMTP2_VolumeError = ERROR_CODE(400, 19), // 吸取/分配量不准确
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kSMTP2_TipAlreadyLoad = ERROR_CODE(400, 20), // Tip已经装载
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kSMTP2_TipLoadFail = ERROR_CODE(400, 21), |
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/**
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* @brief 单片机硬件错误 |
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*/ |
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kmicro_noErr = ERROR_CODE(500, 0), //
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kmicro_uartSendFail = ERROR_CODE(500, 1), //
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kmicro_uartRecvFail = ERROR_CODE(500, 2), //
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kmicro_adcRecvFail = ERROR_CODE(500, 3), //
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/**
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* @brief step motor error |
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*/ |
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kstep_motor_not_found_zero_point = ERROR_CODE(600, 0), // 未找到零点
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kstep_motor_not_go_zero = ERROR_CODE(600, 1), // 设备未归零
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kstep_motor_over_temperature = ERROR_CODE(600, 2), // 过温
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kstep_motor_over_voltage = ERROR_CODE(600, 3), // 过压
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kstep_motor_run_overtime = ERROR_CODE(600, 4), // 运行超时
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kstep_motor_not_enable = ERROR_CODE(600, 5), // 电机未使能
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kstep_motor_ioindex_out_of_range = ERROR_CODE(600, 6), // IO超出范围
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/**
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* @brief mini servo error |
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*/ |
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kmini_servo_not_enable = ERROR_CODE(700, 0), // 未找到零点
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} error_t; |
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const char* error2str(int32_t code); |
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} // namespace err
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} // namespace iflytop
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#pragma once
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#include <stdint.h>
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namespace iflytop { |
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typedef enum { |
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kuniversal_module = 0, // 通用模块
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khbot_module = 1, // hbot模块
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kmotor_module = 2, // 电机控制
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ktemperature_ctrl_module = 3, // 温度控制
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kfan_ctrl_module = 5, // 风扇控制
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kcode_scaner = 6, // 风扇控制
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kpipette_ctrl_module = 7, // 移液体枪控制
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ka8000_optical_module = 8, // a8000光学模组
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klaster_scaner_module = 9, // a8000光学模组
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ktmc_step_motor = 10, // 步进电机
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kmini_servo_motor_module = 11, // 舵机
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kboard = 12, // 舵机
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} module_type_t; |
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} |
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#pragma once
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#include <stdint.h>
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namespace iflytop { |
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using namespace std; |
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#define REG_INDEX(type, offset, subconfigindex) (type * 100 + offset + subconfigindex)
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typedef enum { |
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/*******************************************************************************
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* 模块通用配置和状态 * |
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*******************************************************************************/ |
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kreg_module_version = REG_INDEX(0, 0, 0), // 模块版本
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kreg_module_type = REG_INDEX(0, 0, 1), // 模块类型
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kreg_module_status = REG_INDEX(0, 0, 2), // 0idle,1busy,2error
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kreg_module_errorcode = REG_INDEX(0, 0, 3), // inited_flag
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/*******************************************************************************
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* SENSOR * |
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*******************************************************************************/ |
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kreg_sensor_temperature0 = REG_INDEX(2, 0, 0), // 温度1
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kreg_sensor_temperature1 = REG_INDEX(2, 0, 1), // 温度2
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kreg_sensor_temperature2 = REG_INDEX(2, 0, 2), // 温度3
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kreg_sensor_temperature3 = REG_INDEX(2, 0, 3), // 温度4
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/*******************************************************************************
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* 机械人通用配置 * |
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*******************************************************************************/ |
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/*******************************************************************************
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* MOTOR_X * |
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*******************************************************************************/ |
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/*******************************************************************************
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* PID控制器(3000->4000) * |
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*******************************************************************************/ |
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kreg_pid_target = REG_INDEX(30, 0, 0), // 目标数值
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kreg_pid_nowoutput = REG_INDEX(30, 0, 1), // 当前输出
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kreg_pid_feedbackval = REG_INDEX(30, 0, 2), // 当前输出
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kreg_pid_kp = REG_INDEX(30, 50, 0), // kp
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kreg_pid_ki = REG_INDEX(30, 50, 1), // ki
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kreg_pid_kd = REG_INDEX(30, 50, 2), // kd
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kreg_pid_max_output = REG_INDEX(30, 50, 3), // 最大输出
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kreg_pid_min_output = REG_INDEX(30, 50, 4), // 最小输出
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kreg_pid_max_integral = REG_INDEX(30, 50, 5), // 最大积分
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kreg_pid_min_integral = REG_INDEX(30, 50, 6), // 最小积分
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kreg_error_limit = REG_INDEX(30, 50, 7), // 误差限制
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kreg_compute_interval = REG_INDEX(30, 50, 8), // 计算间隔
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/*******************************************************************************
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* 风扇控制 * |
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*******************************************************************************/ |
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kreg_fan0_ctrl_speed_level = REG_INDEX(31, 0, 0), // 风扇转速0,1,2,3
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kreg_fan1_ctrl_speed_level = REG_INDEX(31, 0, 1), // 风扇转速0,1,2,3
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kreg_fan2_ctrl_speed_level = REG_INDEX(31, 0, 2), // 风扇转速0,1,2,3
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kreg_fan3_ctrl_speed_level = REG_INDEX(31, 0, 3), // 风扇转速0,1,2,3
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kreg_fan4_ctrl_speed_level = REG_INDEX(31, 0, 4), // 风扇转速0,1,2,3
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kreg_fan0_speed_level = REG_INDEX(31, 10, 0), // 风扇实时转速0,1,2,3
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kreg_fan1_speed_level = REG_INDEX(31, 10, 1), // 风扇实时转速0,1,2,3
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kreg_fan2_speed_level = REG_INDEX(31, 10, 2), // 风扇实时转速0,1,2,3
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kreg_fan3_speed_level = REG_INDEX(31, 10, 3), // 风扇实时转速0,1,2,3
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kreg_fan4_speed_level = REG_INDEX(31, 10, 4), // 风扇实时转速0,1,2,3
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kreg_pwm_pump0_ctrl_speed_level = REG_INDEX(32, 0, 0), // PWM水泵0,1,2,3
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kreg_pwm_pump1_ctrl_speed_level = REG_INDEX(32, 0, 1), // PWM水泵0,1,2,3
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kreg_pwm_pump2_ctrl_speed_level = REG_INDEX(32, 0, 2), // PWM水泵0,1,2,3
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kreg_pwm_pump3_ctrl_speed_level = REG_INDEX(32, 0, 3), // PWM水泵0,1,2,3
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kreg_pwm_pump4_ctrl_speed_level = REG_INDEX(32, 0, 4), // PWM水泵0,1,2,3
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kreg_pwm_pump0_speed_level = REG_INDEX(32, 10, 0), // PWM水泵0,1,2,3
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kreg_pwm_pump1_speed_level = REG_INDEX(32, 10, 1), // PWM水泵0,1,2,3
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kreg_pwm_pump2_speed_level = REG_INDEX(32, 10, 2), // PWM水泵0,1,2,3
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kreg_pwm_pump3_speed_level = REG_INDEX(32, 10, 3), // PWM水泵0,1,2,3
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kreg_pwm_pump4_speed_level = REG_INDEX(32, 10, 4), // PWM水泵0,1,2,3
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/*******************************************************************************
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* 移液枪状态 * |
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*******************************************************************************/ |
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kreg_pipette_pos_ul = REG_INDEX(40, 0, 0), // 移液枪位置
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kreg_pipette_capactitance_val = REG_INDEX(40, 0, 1), // 移液枪电容值
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kreg_pipette_tip_state = REG_INDEX(40, 0, 2), // 移动液枪tip状态
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kreg_pipette_limit_ul = REG_INDEX(40, 50, 0), // 移液枪ul限制
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/*******************************************************************************
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* smartADC * |
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*******************************************************************************/ |
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kreg_self_reflecting_laser_sensor_transmitting_power = REG_INDEX(41, 0, 0), // 发射功率
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kreg_self_reflecting_laser_sensor_receiving_tube_gain = REG_INDEX(41, 0, 1), // 接收管放大倍数
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kreg_self_reflecting_laser_sensor_sample_interval_ms = REG_INDEX(41, 0, 2), // 采样率
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kreg_self_reflecting_laser_sensor_num_samples = REG_INDEX(41, 0, 3), // 采样点数
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// scan action
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kreg_boditech_optical_scan_type = REG_INDEX(42, 0, 0), // 0 t光学，1 f光学
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kreg_boditech_optical_scan_start_pos = REG_INDEX(42, 0, 1), |
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kreg_boditech_optical_scan_direction = REG_INDEX(42, 0, 2), |
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kreg_boditech_optical_scan_step_interval = REG_INDEX(42, 0, 3), |
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kreg_boditech_optical_scan_pointnum = REG_INDEX(42, 0, 4), |
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kreg_boditech_optical_channel_select_num = REG_INDEX(42, 0, 5), |
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kreg_boditech_optical_laster_gain = REG_INDEX(42, 0, 6), |
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kreg_boditech_optical_scan_gain = REG_INDEX(42, 0, 7), |
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kreg_boditech_optical_trf_uvled_on_duration_us = REG_INDEX(42, 0, 8), |
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kreg_boditech_optical_trf_uvled_off_duration_us = REG_INDEX(42, 0, 9), |
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kreg_boditech_optical_trf_scan_delay_us = REG_INDEX(42, 0, 10), |
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kreg_boditech_optical_trf_scan_duration_us = REG_INDEX(42, 0, 11), |
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kreg_boditech_optical_scan_gain_adjust_suggestion = REG_INDEX(42, 0, 12), |
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kreg_boditech_optical_adc_result_overflow = REG_INDEX(42, 0, 13), |
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kreg_boditech_optical_laster_intensity = REG_INDEX(42, 0, 14), |
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//
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kreg_laster_scaner_scan_type = REG_INDEX(43, 0, 0), // 0 t光学，1 f光学
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kreg_laster_scaner_scan_start_pos = REG_INDEX(43, 0, 1), |
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kreg_laster_scaner_scan_direction = REG_INDEX(43, 0, 2), |
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kreg_laster_scaner_scan_step_interval = REG_INDEX(43, 0, 3), |
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kreg_laster_scaner_scan_pointnum = REG_INDEX(43, 0, 4), |
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kreg_laster_scaner_laster_gain = REG_INDEX(43, 0, 5), |
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kreg_laster_scaner_scan_gain = REG_INDEX(43, 0, 6), |
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kreg_laster_scaner_scan_gain_adjust_suggestion = REG_INDEX(43, 0, 12), |
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kreg_laster_scaner_adc_result_overflow = REG_INDEX(43, 0, 13), |
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kreg_laster_scaner_laster_intensity = REG_INDEX(43, 0, 14), |
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/***********************************************************************************************************************
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* XYROBOT * |
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***********************************************************************************************************************/ |
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kreg_xyrobot_default_velocity = REG_INDEX(100, 0, 0), |
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kreg_xyrobot_default_acc = REG_INDEX(100, 0, 1), |
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kreg_xyrobot_default_dec = REG_INDEX(100, 0, 2), |
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kreg_xyrobot_default_break_dec = REG_INDEX(100, 0, 3), |
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kreg_xyrobot_run_to_zero_speed = REG_INDEX(100, 0, 4), |
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kreg_xyrobot_run_to_zero_dec = REG_INDEX(100, 0, 5), |
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kreg_xyrobot_look_zero_edge_speed = REG_INDEX(100, 0, 6), |
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kreg_xyrobot_look_zero_edge_dec = REG_INDEX(100, 0, 7), |
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kreg_xyrobot_ihold = REG_INDEX(100, 0, 8), |
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kreg_xyrobot_irun = REG_INDEX(100, 0, 9), |
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kreg_xyrobot_iholddelay = REG_INDEX(100, 0, 10), |
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kreg_xyrobot_robot_type = REG_INDEX(100, 50, 0), // 机器人类型 0:hbot 1:corexy
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kreg_xyrobot_x_shift = REG_INDEX(100, 50, 1), // x偏移
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kreg_xyrobot_y_shift = REG_INDEX(100, 50, 2), // y偏移
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kreg_xyrobot_x_shaft = REG_INDEX(100, 50, 3), // x轴是否反转
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kreg_xyrobot_y_shaft = REG_INDEX(100, 50, 4), // y轴是否反转
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kreg_xyrobot_x_one_circle_pulse = REG_INDEX(100, 50, 5), // x轴一圈脉冲数
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kreg_xyrobot_y_one_circle_pulse = REG_INDEX(100, 50, 6), // y轴一圈脉冲数
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kreg_xyrobot_run_to_zero_max_x_d = REG_INDEX(100, 50, 7), // x轴回零最大距离
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kreg_xyrobot_run_to_zero_max_y_d = REG_INDEX(100, 50, 8), // y轴回零最大距离
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kreg_xyrobot_look_zero_edge_max_x_d = REG_INDEX(100, 50, 9), // x轴找零边缘最大距离
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kreg_xyrobot_look_zero_edge_max_y_d = REG_INDEX(100, 50, 10), // y轴找零边缘最大距离
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kreg_xyrobot_io_state0 = REG_INDEX(100, 50, 11), // IO状态
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kreg_xyrobot_io_state1 = REG_INDEX(100, 50, 12), // IO状态
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/***********************************************************************************************************************
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* step_motor * |
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***********************************************************************************************************************/ |
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kreg_step_motor_pos = REG_INDEX(101, 0, 1), // 机器人x坐标
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kreg_step_motor_dpos = REG_INDEX(101, 0, 3), // 执行完上一条指令后的相对位移
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kreg_step_motor_shift = REG_INDEX(101, 50, 0), // x偏移
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kreg_step_motor_shaft = REG_INDEX(101, 50, 1), // x轴是否反转
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kreg_step_motor_one_circle_pulse = REG_INDEX(101, 50, 2), // x轴一圈脉冲数
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kreg_step_motor_one_circle_pulse_denominator = REG_INDEX(101, 50, 3), // 设置一圈脉冲数的分母
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|||
kreg_step_motor_default_velocity = REG_INDEX(101, 50, 4), // 默认速度
|
|||
kreg_step_motor_default_acc = REG_INDEX(101, 50, 5), // 默认加速度
|
|||
kreg_step_motor_default_dec = REG_INDEX(101, 50, 6), // 默认减速度
|
|||
kreg_step_motor_default_break_dec = REG_INDEX(101, 50, 7), // 默认减速度
|
|||
kreg_step_motor_ihold = REG_INDEX(101, 50, 8), // 步进电机电流配置
|
|||
kreg_step_motor_irun = REG_INDEX(101, 50, 9), // 步进电机电流配置
|
|||
kreg_step_motor_iholddelay = REG_INDEX(101, 50, 10), // 步进电机电流配置
|
|||
kreg_step_motor_iglobalscaler = REG_INDEX(101, 50, 11), // 步进电机电流配置
|
|||
kreg_step_motor_run_to_zero_max_d = REG_INDEX(101, 50, 21), // x轴回零最大距离
|
|||
kreg_step_motor_look_zero_edge_max_d = REG_INDEX(101, 50, 22), // x轴找零边缘最大距离
|
|||
kreg_step_motor_run_to_zero_speed = REG_INDEX(101, 50, 23), // 回零速度
|
|||
kreg_step_motor_run_to_zero_dec = REG_INDEX(101, 50, 24), // 回零减速度
|
|||
kreg_step_motor_look_zero_edge_speed = REG_INDEX(101, 50, 25), // 找零边缘速度
|
|||
kreg_step_motor_look_zero_edge_dec = REG_INDEX(101, 50, 26), // 找零边缘减速度
|
|||
kreg_step_motor_max_d = REG_INDEX(101, 50, 28), // 最大限制距离
|
|||
kreg_step_motor_min_d = REG_INDEX(101, 50, 29), // 最小限制距离
|
|||
|
|||
/***********************************************************************************************************************
|
|||
* MINI_STEP_MOTOR * |
|||
***********************************************************************************************************************/ |
|||
|
|||
kreg_mini_servo_pos = REG_INDEX(102, 0, 1), // 位置
|
|||
kreg_mini_servo_limit_velocity = REG_INDEX(102, 50, 1), // 限制速度
|
|||
kreg_mini_servo_limit_torque = REG_INDEX(102, 50, 2), // 限制扭矩
|
|||
kreg_mini_servo_protective_torque = REG_INDEX(102, 50, 3), // 保护扭矩
|
|||
|
|||
/***********************************************************************************************************************
|
|||
* BOARD * |
|||
***********************************************************************************************************************/ |
|||
} reg_index_t; |
|||
|
|||
} // namespace iflytop
|
|||
@ -0,0 +1,46 @@ |
|||
#pragma once
|
|||
#include <stdint.h>
|
|||
|
|||
#include <functional>
|
|||
|
|||
#include "apibasic/basic.hpp"
|
|||
|
|||
|
|||
namespace iflytop { |
|||
using namespace std; |
|||
class ZIA8000OpticalModule { |
|||
public: |
|||
typedef enum { |
|||
kf_optical = 0, |
|||
kt_optical = 1, |
|||
ktest_optical = 2, |
|||
} optical_type_t; |
|||
|
|||
public: |
|||
virtual ~ZIA8000OpticalModule(){}; |
|||
|
|||
/*******************************************************************************
|
|||
* TEST * |
|||
*******************************************************************************/ |
|||
/**
|
|||
* @概述: |
|||
* 1. 下面方法属于单步测试采样的方法，用于调试。一般手动移动光学模组，然后利用下面方法进行测试 |
|||
* 2. 正式逻辑不使用下面逻辑 |
|||
*/ |
|||
virtual int32_t a8000_optical_module_power_ctrl(int32_t state) { return err::kmodule_not_support_action; } |
|||
virtual int32_t a8000_optical_open_laser(int32_t type) { return err::kmodule_not_support_action; } |
|||
virtual int32_t a8000_optical_close_laser(int32_t type) { return err::kmodule_not_support_action; } |
|||
virtual int32_t a8000_optical_set_laster_gain(int32_t type, int32_t gain) { return err::kmodule_not_support_action; } |
|||
virtual int32_t a8000_optical_set_scan_amp_gain(int32_t type, int32_t gain) { return err::kmodule_not_support_action; } |
|||
virtual int32_t a8000_optical_read_scanner_adc_val(int32_t type, int32_t* adcval) { return err::kmodule_not_support_action; } |
|||
virtual int32_t a8000_optical_read_laster_adc_val(int32_t type, int32_t* adcval) { return err::kmodule_not_support_action; } |
|||
/**
|
|||
* @brief 打开闪光灯读取当前这一点的采样信息 |
|||
* |
|||
* @param type |
|||
* @param adcval |
|||
* @return int32_t |
|||
*/ |
|||
virtual int32_t a8000_optical_scan_current_point_amp_adc_val(int32_t type, int32_t lastergain, int32_t ampgain, int32_t* laster_fb_val, int32_t* adcval) { return err::kmodule_not_support_action; } |
|||
}; |
|||
} // namespace iflytop
|
|||
@ -0,0 +1,28 @@ |
|||
#pragma once
|
|||
#include <stdint.h>
|
|||
|
|||
#include <functional>
|
|||
#include "apibasic/basic.hpp"
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
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
|
|||
@ -0,0 +1,82 @@ |
|||
#pragma once
|
|||
#include <stdint.h>
|
|||
|
|||
#include <functional>
|
|||
|
|||
#include "apibasic/basic.hpp"
|
|||
|
|||
namespace iflytop { |
|||
using namespace std; |
|||
|
|||
#define REG_SET(reg, ...) _module_set_reg(param_id, ®, val, ##__VA_ARGS__)
|
|||
#define REG_GET(reg) _module_get_reg(param_id, reg, val)
|
|||
|
|||
#define REG_SET_FLOAT(reg, precision, ...) _module_set_reg_float(param_id, ®, val, precision, ##__VA_ARGS__)
|
|||
#define REG_GET_FLOAT(reg, precision) _module_get_reg_float(param_id, reg, val, precision)
|
|||
|
|||
#define ACTION_NONE 0
|
|||
#define PROCESS_REG(param_id, readaction, writeacton) \
|
|||
case param_id: { \ |
|||
if (read) { \ |
|||
return readaction; \ |
|||
} else { \ |
|||
return writeacton; \ |
|||
} \ |
|||
} break; |
|||
|
|||
#define ENABLE_MODULE(name, type, version) \
|
|||
public: \ |
|||
virtual int32_t module_get_version(int32_t *val) { \ |
|||
*val = version; \ |
|||
return 0; \ |
|||
} \ |
|||
virtual int32_t module_get_type(int32_t *val) { \ |
|||
*val = type; \ |
|||
return 0; \ |
|||
} |
|||
|
|||
#define MODULE_COMMON_PROCESS_REG_CB()
|
|||
|
|||
typedef struct { |
|||
int32_t module_errorcode; |
|||
int32_t module_errorbitflag0; |
|||
int32_t m_module_status; |
|||
} module_common_reg_t; |
|||
|
|||
class ZIModule { |
|||
int32_t m_inited_flag = 0; |
|||
|
|||
protected: |
|||
module_common_reg_t creg; |
|||
|
|||
public: |
|||
virtual ~ZIModule() {} |
|||
|
|||
public: |
|||
virtual int32_t getid(); |
|||
virtual int32_t module_ping(); |
|||
virtual int32_t module_get_error(int32_t *iserror); |
|||
virtual int32_t module_clear_error(); |
|||
virtual int32_t module_set_reg(int32_t param_id, int32_t param_value); |
|||
virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value); |
|||
virtual int32_t module_get_status(int32_t *status); |
|||
virtual int32_t module_get_version(int32_t *val) = 0; |
|||
virtual int32_t module_get_type(int32_t *val) = 0; |
|||
|
|||
/***********************************************************************************************************************
|
|||
* 用户实现 * |
|||
***********************************************************************************************************************/ |
|||
virtual int32_t getid(int32_t *id) = 0; |
|||
virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val) = 0; |
|||
|
|||
protected: |
|||
virtual int32_t _module_set_reg(int32_t regoff, int32_t *regval, int32_t val, int32_t min = INT32_MIN, int32_t max = INT32_MAX); |
|||
virtual int32_t _module_get_reg(int32_t regoff, int32_t regval, int32_t &val); |
|||
virtual int32_t _module_set_reg_float(int32_t regoff, float *regval, int32_t val, float precision, int32_t min = INT32_MIN, int32_t max = INT32_MAX); |
|||
virtual int32_t _module_get_reg_float(int32_t regoff, float regval, int32_t &val, float precision); |
|||
virtual int32_t _module_xxx_reg(int32_t param_id, bool read, int32_t &val); |
|||
|
|||
public: |
|||
public: |
|||
}; |
|||
} // namespace iflytop
|
|||
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