diff --git a/api/apibasic/temp_errorcode.hpp b/api/apibasic/temp_errorcode.hpp new file mode 100644 index 0000000..4c24cc3 --- /dev/null +++ b/api/apibasic/temp_errorcode.hpp @@ -0,0 +1,128 @@ +#pragma once +#include + +namespace iflytop { +namespace err { +using namespace std; + +#define ERROR_CODE(errortype, suberrorcode) (errortype + suberrorcode) + +typedef enum { + ksucc = ERROR_CODE(0, 0), + 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), + kcatch_exception = ERROR_CODE(0, 16), + khwardware_error_fan_error = ERROR_CODE(0, 17), + khwardware_error = ERROR_CODE(0, 18), + + /** + * @brief 系统错误 + */ + ksys_error = ERROR_CODE(100, 0), + ksys_create_file_error = ERROR_CODE(100, 1), + ksys_create_dir_error = ERROR_CODE(100, 2), + ksys_open_file_error = ERROR_CODE(100, 3), + ksys_open_dir_error = ERROR_CODE(100, 4), + ksys_read_file_error = ERROR_CODE(100, 5), + ksys_write_file_error = ERROR_CODE(100, 6), + ksys_close_file_error = ERROR_CODE(100, 7), + ksys_close_dir_error = ERROR_CODE(100, 8), + ksys_delete_file_error = ERROR_CODE(100, 9), + ksys_delete_dir_error = ERROR_CODE(100, 10), + ksys_copy_file_error = ERROR_CODE(100, 11), + + /** + * @brief module error + */ + 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 + kmodule_error = ERROR_CODE(200, 3), // 未知错误 + kmodule_not_find_config_index = ERROR_CODE(200, 4), // 未找到配置索引 + kmodule_not_find_state_index = ERROR_CODE(200, 5), // 未找到配置索引 + kmodule_not_support_action = ERROR_CODE(200, 6), // 未找到配置索引 + kmodule_not_find_reg = ERROR_CODE(200, 7), // 未找到配置索引 + + /** + * @brief motor error + */ + 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 + kmotor_run_overtime = ERROR_CODE(300, 8), // 运行超时 + kmotor_not_enable = ERROR_CODE(300, 9), // 电机未使能 + + /** + * @brief STMP2错误 + */ + 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 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), // + kmicro_adcRecvFail = ERROR_CODE(500, 3), // + + /** + * @brief step motor error + */ + kstep_motor_not_found_zero_point = ERROR_CODE(600, 0), // 未找到零点 + kstep_motor_not_go_zero = ERROR_CODE(600, 1), // 设备未归零 + kstep_motor_over_temperature = ERROR_CODE(600, 2), // 过温 + kstep_motor_over_voltage = ERROR_CODE(600, 3), // 过压 + kstep_motor_run_overtime = ERROR_CODE(600, 4), // 运行超时 + kstep_motor_not_enable = ERROR_CODE(600, 5), // 电机未使能 + kstep_motor_ioindex_out_of_range = ERROR_CODE(600, 6), // IO超出范围 + + /** + * @brief mini servo error + */ + kmini_servo_not_enable = ERROR_CODE(700, 0), // 未找到零点 + +} error_t; + +const char* error2str(int32_t code); + +} // namespace err +} // namespace iflytop diff --git a/api/apibasic/temp_module_type_index.hpp b/api/apibasic/temp_module_type_index.hpp new file mode 100644 index 0000000..f301fe1 --- /dev/null +++ b/api/apibasic/temp_module_type_index.hpp @@ -0,0 +1,20 @@ +#pragma once +#include + +namespace iflytop { +typedef enum { + kuniversal_module = 0, // 通用模块 + khbot_module = 1, // hbot模块 + kmotor_module = 2, // 电机控制 + ktemperature_ctrl_module = 3, // 温度控制 + kfan_ctrl_module = 5, // 风扇控制 + kcode_scaner = 6, // 风扇控制 + kpipette_ctrl_module = 7, // 移液体枪控制 + ka8000_optical_module = 8, // a8000光学模组 + klaster_scaner_module = 9, // a8000光学模组 + + ktmc_step_motor = 10, // 步进电机 + kmini_servo_motor_module = 11, // 舵机 + kboard = 12, // 舵机 +} module_type_t; +} diff --git a/api/apibasic/temp_reg_index.hpp b/api/apibasic/temp_reg_index.hpp new file mode 100644 index 0000000..e927611 --- /dev/null +++ b/api/apibasic/temp_reg_index.hpp @@ -0,0 +1,193 @@ +#pragma once +#include + +namespace iflytop { +using namespace std; + +#define REG_INDEX(type, offset, subconfigindex) (type * 100 + offset + subconfigindex) +typedef enum { + /******************************************************************************* + * 模块通用配置和状态 * + *******************************************************************************/ + kreg_module_version = REG_INDEX(0, 0, 0), // 模块版本 + kreg_module_type = REG_INDEX(0, 0, 1), // 模块类型 + kreg_module_status = REG_INDEX(0, 0, 2), // 0idle,1busy,2error + kreg_module_errorcode = REG_INDEX(0, 0, 3), // inited_flag + /******************************************************************************* + * SENSOR * + *******************************************************************************/ + kreg_sensor_temperature0 = REG_INDEX(2, 0, 0), // 温度1 + kreg_sensor_temperature1 = REG_INDEX(2, 0, 1), // 温度2 + kreg_sensor_temperature2 = REG_INDEX(2, 0, 2), // 温度3 + kreg_sensor_temperature3 = REG_INDEX(2, 0, 3), // 温度4 + + /******************************************************************************* + * 机械人通用配置 * + *******************************************************************************/ + + /******************************************************************************* + * MOTOR_X * + *******************************************************************************/ + + /******************************************************************************* + * PID控制器(3000->4000) * + *******************************************************************************/ + kreg_pid_target = REG_INDEX(30, 0, 0), // 目标数值 + kreg_pid_nowoutput = REG_INDEX(30, 0, 1), // 当前输出 + kreg_pid_feedbackval = REG_INDEX(30, 0, 2), // 当前输出 + kreg_pid_kp = REG_INDEX(30, 50, 0), // kp + kreg_pid_ki = REG_INDEX(30, 50, 1), // ki + kreg_pid_kd = REG_INDEX(30, 50, 2), // kd + kreg_pid_max_output = REG_INDEX(30, 50, 3), // 最大输出 + kreg_pid_min_output = REG_INDEX(30, 50, 4), // 最小输出 + kreg_pid_max_integral = REG_INDEX(30, 50, 5), // 最大积分 + kreg_pid_min_integral = REG_INDEX(30, 50, 6), // 最小积分 + kreg_error_limit = REG_INDEX(30, 50, 7), // 误差限制 + kreg_compute_interval = REG_INDEX(30, 50, 8), // 计算间隔 + + /******************************************************************************* + * 风扇控制 * + *******************************************************************************/ + kreg_fan0_ctrl_speed_level = REG_INDEX(31, 0, 0), // 风扇转速0,1,2,3 + kreg_fan1_ctrl_speed_level = REG_INDEX(31, 0, 1), // 风扇转速0,1,2,3 + kreg_fan2_ctrl_speed_level = REG_INDEX(31, 0, 2), // 风扇转速0,1,2,3 + kreg_fan3_ctrl_speed_level = REG_INDEX(31, 0, 3), // 风扇转速0,1,2,3 + kreg_fan4_ctrl_speed_level = REG_INDEX(31, 0, 4), // 风扇转速0,1,2,3 + + kreg_fan0_speed_level = REG_INDEX(31, 10, 0), // 风扇实时转速0,1,2,3 + kreg_fan1_speed_level = REG_INDEX(31, 10, 1), // 风扇实时转速0,1,2,3 + kreg_fan2_speed_level = REG_INDEX(31, 10, 2), // 风扇实时转速0,1,2,3 + kreg_fan3_speed_level = REG_INDEX(31, 10, 3), // 风扇实时转速0,1,2,3 + kreg_fan4_speed_level = REG_INDEX(31, 10, 4), // 风扇实时转速0,1,2,3 + + kreg_pwm_pump0_ctrl_speed_level = REG_INDEX(32, 0, 0), // PWM水泵0,1,2,3 + kreg_pwm_pump1_ctrl_speed_level = REG_INDEX(32, 0, 1), // PWM水泵0,1,2,3 + kreg_pwm_pump2_ctrl_speed_level = REG_INDEX(32, 0, 2), // PWM水泵0,1,2,3 + kreg_pwm_pump3_ctrl_speed_level = REG_INDEX(32, 0, 3), // PWM水泵0,1,2,3 + kreg_pwm_pump4_ctrl_speed_level = REG_INDEX(32, 0, 4), // PWM水泵0,1,2,3 + + kreg_pwm_pump0_speed_level = REG_INDEX(32, 10, 0), // PWM水泵0,1,2,3 + kreg_pwm_pump1_speed_level = REG_INDEX(32, 10, 1), // PWM水泵0,1,2,3 + kreg_pwm_pump2_speed_level = REG_INDEX(32, 10, 2), // PWM水泵0,1,2,3 + kreg_pwm_pump3_speed_level = REG_INDEX(32, 10, 3), // PWM水泵0,1,2,3 + kreg_pwm_pump4_speed_level = REG_INDEX(32, 10, 4), // PWM水泵0,1,2,3 + + /******************************************************************************* + * 移液枪状态 * + *******************************************************************************/ + kreg_pipette_pos_ul = REG_INDEX(40, 0, 0), // 移液枪位置 + kreg_pipette_capactitance_val = REG_INDEX(40, 0, 1), // 移液枪电容值 + kreg_pipette_tip_state = REG_INDEX(40, 0, 2), // 移动液枪tip状态 + kreg_pipette_limit_ul = REG_INDEX(40, 50, 0), // 移液枪ul限制 + + /******************************************************************************* + * smartADC * + *******************************************************************************/ + kreg_self_reflecting_laser_sensor_transmitting_power = REG_INDEX(41, 0, 0), // 发射功率 + kreg_self_reflecting_laser_sensor_receiving_tube_gain = REG_INDEX(41, 0, 1), // 接收管放大倍数 + kreg_self_reflecting_laser_sensor_sample_interval_ms = REG_INDEX(41, 0, 2), // 采样率 + kreg_self_reflecting_laser_sensor_num_samples = REG_INDEX(41, 0, 3), // 采样点数 + + // scan action + kreg_boditech_optical_scan_type = REG_INDEX(42, 0, 0), // 0 t光学，1 f光学 + kreg_boditech_optical_scan_start_pos = REG_INDEX(42, 0, 1), + kreg_boditech_optical_scan_direction = REG_INDEX(42, 0, 2), + kreg_boditech_optical_scan_step_interval = REG_INDEX(42, 0, 3), + kreg_boditech_optical_scan_pointnum = REG_INDEX(42, 0, 4), + kreg_boditech_optical_channel_select_num = REG_INDEX(42, 0, 5), + kreg_boditech_optical_laster_gain = REG_INDEX(42, 0, 6), + kreg_boditech_optical_scan_gain = REG_INDEX(42, 0, 7), + kreg_boditech_optical_trf_uvled_on_duration_us = REG_INDEX(42, 0, 8), + kreg_boditech_optical_trf_uvled_off_duration_us = REG_INDEX(42, 0, 9), + kreg_boditech_optical_trf_scan_delay_us = REG_INDEX(42, 0, 10), + kreg_boditech_optical_trf_scan_duration_us = REG_INDEX(42, 0, 11), + kreg_boditech_optical_scan_gain_adjust_suggestion = REG_INDEX(42, 0, 12), + kreg_boditech_optical_adc_result_overflow = REG_INDEX(42, 0, 13), + kreg_boditech_optical_laster_intensity = REG_INDEX(42, 0, 14), + + // + kreg_laster_scaner_scan_type = REG_INDEX(43, 0, 0), // 0 t光学，1 f光学 + + kreg_laster_scaner_scan_start_pos = REG_INDEX(43, 0, 1), + kreg_laster_scaner_scan_direction = REG_INDEX(43, 0, 2), + kreg_laster_scaner_scan_step_interval = REG_INDEX(43, 0, 3), + kreg_laster_scaner_scan_pointnum = REG_INDEX(43, 0, 4), + kreg_laster_scaner_laster_gain = REG_INDEX(43, 0, 5), + kreg_laster_scaner_scan_gain = REG_INDEX(43, 0, 6), + + kreg_laster_scaner_scan_gain_adjust_suggestion = REG_INDEX(43, 0, 12), + kreg_laster_scaner_adc_result_overflow = REG_INDEX(43, 0, 13), + kreg_laster_scaner_laster_intensity = REG_INDEX(43, 0, 14), + + /*********************************************************************************************************************** + * XYROBOT * + ***********************************************************************************************************************/ + + kreg_xyrobot_default_velocity = REG_INDEX(100, 0, 0), + kreg_xyrobot_default_acc = REG_INDEX(100, 0, 1), + kreg_xyrobot_default_dec = REG_INDEX(100, 0, 2), + kreg_xyrobot_default_break_dec = REG_INDEX(100, 0, 3), + kreg_xyrobot_run_to_zero_speed = REG_INDEX(100, 0, 4), + kreg_xyrobot_run_to_zero_dec = REG_INDEX(100, 0, 5), + kreg_xyrobot_look_zero_edge_speed = REG_INDEX(100, 0, 6), + kreg_xyrobot_look_zero_edge_dec = REG_INDEX(100, 0, 7), + kreg_xyrobot_ihold = REG_INDEX(100, 0, 8), + kreg_xyrobot_irun = REG_INDEX(100, 0, 9), + kreg_xyrobot_iholddelay = REG_INDEX(100, 0, 10), + + kreg_xyrobot_robot_type = REG_INDEX(100, 50, 0), // 机器人类型 0:hbot 1:corexy + kreg_xyrobot_x_shift = REG_INDEX(100, 50, 1), // x偏移 + kreg_xyrobot_y_shift = REG_INDEX(100, 50, 2), // y偏移 + kreg_xyrobot_x_shaft = REG_INDEX(100, 50, 3), // x轴是否反转 + kreg_xyrobot_y_shaft = REG_INDEX(100, 50, 4), // y轴是否反转 + kreg_xyrobot_x_one_circle_pulse = REG_INDEX(100, 50, 5), // x轴一圈脉冲数 + kreg_xyrobot_y_one_circle_pulse = REG_INDEX(100, 50, 6), // y轴一圈脉冲数 + kreg_xyrobot_run_to_zero_max_x_d = REG_INDEX(100, 50, 7), // x轴回零最大距离 + kreg_xyrobot_run_to_zero_max_y_d = REG_INDEX(100, 50, 8), // y轴回零最大距离 + kreg_xyrobot_look_zero_edge_max_x_d = REG_INDEX(100, 50, 9), // x轴找零边缘最大距离 + kreg_xyrobot_look_zero_edge_max_y_d = REG_INDEX(100, 50, 10), // y轴找零边缘最大距离 + kreg_xyrobot_io_state0 = REG_INDEX(100, 50, 11), // IO状态 + kreg_xyrobot_io_state1 = REG_INDEX(100, 50, 12), // IO状态 + + /*********************************************************************************************************************** + * step_motor * + ***********************************************************************************************************************/ + kreg_step_motor_pos = REG_INDEX(101, 0, 1), // 机器人x坐标 + kreg_step_motor_dpos = REG_INDEX(101, 0, 3), // 执行完上一条指令后的相对位移 + + kreg_step_motor_shift = REG_INDEX(101, 50, 0), // x偏移 + kreg_step_motor_shaft = REG_INDEX(101, 50, 1), // x轴是否反转 + kreg_step_motor_one_circle_pulse = REG_INDEX(101, 50, 2), // x轴一圈脉冲数 + kreg_step_motor_one_circle_pulse_denominator = REG_INDEX(101, 50, 3), // 设置一圈脉冲数的分母 + 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 diff --git a/api/temp_zi_a8000_optical_module.hpp b/api/temp_zi_a8000_optical_module.hpp new file mode 100644 index 0000000..eb425b6 --- /dev/null +++ b/api/temp_zi_a8000_optical_module.hpp @@ -0,0 +1,46 @@ +#pragma once +#include + +#include + +#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 diff --git a/api/temp_zi_event_bus.hpp b/api/temp_zi_event_bus.hpp new file mode 100644 index 0000000..a66e030 --- /dev/null +++ b/api/temp_zi_event_bus.hpp @@ -0,0 +1,28 @@ +#pragma once +#include + +#include +#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 diff --git a/api/temp_zi_module.hpp b/api/temp_zi_module.hpp new file mode 100644 index 0000000..c816847 --- /dev/null +++ b/api/temp_zi_module.hpp @@ -0,0 +1,82 @@ +#pragma once +#include + +#include + +#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