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170 lines
9.5 KiB
170 lines
9.5 KiB
#pragma once
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#include <map>
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#include "api/api.hpp"
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#include "api\i_zcan_cmder_master.hpp"
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#include "cmdid.hpp"
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namespace iflytop {
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class ZModuleDeviceManager {
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private:
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map<uint16_t, ZIModule *> m_modulers;
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IZcanCmderMaster *m_cancmder = nullptr;
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public:
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void initialize(IZcanCmderMaster *m_cancmder);
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void registerModule(ZIModule *module);
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/*******************************************************************************
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* ZIModule *
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*******************************************************************************/
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#if 0
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virtual ~ZIModule() {}
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virtual int32_t getid(int32_t *id) = 0;
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virtual int32_t module_stop() = 0;
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virtual int32_t module_break() = 0;
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virtual int32_t module_get_last_exec_status(int32_t *status) = 0;
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virtual int32_t module_get_status(int32_t *status) = 0;
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virtual int32_t module_get_error(int32_t *iserror) = 0;
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virtual int32_t module_clear_error() = 0;
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virtual int32_t module_set_param(int32_t param_id, int32_t param_value) { return err::koperation_not_support; }
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virtual int32_t module_get_param(int32_t param_id, int32_t *param_value) { return err::koperation_not_support; }
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virtual int32_t module_readio(int32_t *io) { return err::koperation_not_support; }
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virtual int32_t module_writeio(int32_t io) { return err::koperation_not_support; }
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virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) { return err::koperation_not_support; }
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virtual int32_t module_set_inited_flag(int32_t flag) {
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m_inited_flag = flag;
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return 0;
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}
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virtual int32_t module_get_inited_flag(int32_t *flag) {
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*flag = m_inited_flag;
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return 0;
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}
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// kmodule_factory_reset = CMDID(1, 14), // para:{}, ack:{}
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// kmodule_flush_cfg = CMDID(1, 15), // para:{}, ack:{}
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// kmodule_active_cfg = CMDID(1, 16), // para:{}, ack:{}
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virtual int32_t module_factory_reset() { return err::koperation_not_support; }
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virtual int32_t module_flush_cfg() { return err::koperation_not_support; }
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virtual int32_t module_active_cfg() { return err::koperation_not_support; }
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virtual int32_t module_set_state(int32_t state_id, int32_t state_value) { return err::koperation_not_support; }
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virtual int32_t module_get_state(int32_t state_id, int32_t *state_value) { return err::koperation_not_support; }
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#endif
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virtual int32_t module_stop(uint16_t id);
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virtual int32_t module_break(uint16_t id);
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virtual int32_t module_get_last_exec_status(uint16_t id, int32_t *status);
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virtual int32_t module_get_status(uint16_t id, int32_t *status);
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virtual int32_t module_set_param(uint16_t id, int32_t param_id, int32_t param_value);
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virtual int32_t module_get_param(uint16_t id, int32_t param_id, int32_t *param_value);
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virtual int32_t module_readio(uint16_t id, int32_t *io);
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virtual int32_t module_writeio(uint16_t id, int32_t io);
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virtual int32_t module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc);
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virtual int32_t module_get_error(uint16_t id, int32_t *iserror);
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virtual int32_t module_clear_error(uint16_t id);
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virtual int32_t module_set_inited_flag(uint16_t id, int32_t flag);
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virtual int32_t module_get_inited_flag(uint16_t id, int32_t *flag);
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virtual int32_t module_factory_reset(uint16_t id);
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virtual int32_t module_flush_cfg(uint16_t id);
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virtual int32_t module_active_cfg(uint16_t id);
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virtual int32_t module_set_state(uint16_t id, int32_t state_id, int32_t state_value);
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virtual int32_t module_get_state(uint16_t id, int32_t state_id, int32_t *state_value);
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virtual int32_t module_read_raw(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len);
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/*******************************************************************************
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* ZIMotor *
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*******************************************************************************/
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#if 0
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virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
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virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
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virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
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virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
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virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
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virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
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virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
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virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
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virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
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virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
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virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
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virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
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virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
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virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
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virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú
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#endif
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virtual int32_t motor_enable(uint16_t id, int32_t enable);
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virtual int32_t motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc);
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virtual int32_t motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc);
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virtual int32_t motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc);
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virtual int32_t motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime);
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virtual int32_t motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime);
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virtual int32_t motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime);
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virtual int32_t motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
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virtual int32_t motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
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virtual int32_t motor_rotate_with_torque(uint16_t id, int32_t direction, int32_t torque);
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virtual int32_t motor_read_pos(uint16_t id, int32_t *pos);
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virtual int32_t motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos);
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virtual int32_t motor_move_to_zero_forward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
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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);
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virtual int32_t motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime);
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/*******************************************************************************
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* ZIXYMotor *
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*******************************************************************************/
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#if 0
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virtual ~ZIXYMotor() {}
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virtual int32_t xymotor_enable(int32_t enable) { return err::koperation_not_support; }
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virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) { return err::koperation_not_support; }
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virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) { return err::koperation_not_support; }
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virtual int32_t xymotor_move_to_zero() { return err::koperation_not_support; }
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virtual int32_t xymotor_move_to_zero_and_calculated_shift() { return err::koperation_not_support; }
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virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) { return err::koperation_not_support; }
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virtual int32_t xymotor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
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#endif
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virtual int32_t xymotor_enable(uint16_t id, int32_t enable);
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virtual int32_t xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t motor_velocity);
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virtual int32_t xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t motor_velocity);
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virtual int32_t xymotor_move_to_zero(uint16_t id);
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virtual int32_t xymotor_move_to_zero_and_calculated_shift(uint16_t id);
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virtual int32_t xymotor_read_pos(uint16_t id, int32_t *x, int32_t *y);
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virtual int32_t xymotor_calculated_pos_by_move_to_zero(uint16_t id);
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virtual ~ZModuleDeviceManager() {}
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private:
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template <typename T>
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int32_t findModule(uint16_t id, T **module) {
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auto it = m_modulers.find(id);
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if (it == m_modulers.end()) {
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return err::kmodule_not_found;
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}
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T *_module = dynamic_cast<T *>(it->second);
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if (_module == nullptr) {
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return err::koperation_not_support;
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}
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*module = _module;
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return 0;
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}
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};
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} // namespace iflytop
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