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98 lines
7.1 KiB
98 lines
7.1 KiB
#pragma once
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#include "api/api.hpp"
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namespace iflytop {
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namespace zcr {
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typedef enum {
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#if 0
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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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virtual int32_t module_read_raw(int32_t startadd, int32_t *data, int32_t *len) { return err::koperation_not_support; }
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virtual int32_t module_enable(int32_t enable) { return err::koperation_not_support; }
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virtual int32_t module_start() { return err::koperation_not_support; }
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#endif
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kmodule_stop = CMDID(1, 1), // para:{}, ack:{}
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kmodule_break = CMDID(1, 2), // para:{}, ack:{}
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kmodule_get_last_exec_status = CMDID(1, 3), // para:{}, ack:{4}
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kmodule_get_status = CMDID(1, 4), // para:{}, ack:{4}
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kmodule_set_param = CMDID(1, 5), // para:{4,4}, ack:{}
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kmodule_get_param = CMDID(1, 6), // para:{4}, ack:{4}I
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kmodule_readio = CMDID(1, 7), // para:{}, ack:{4}
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kmodule_writeio = CMDID(1, 8), // para:{4}, ack:{}
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kmodule_read_adc = CMDID(1, 9), // para:{4}, ack:{4}
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kmodule_get_error = CMDID(1, 10), // para:{}, ack:{1}
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kmodule_clear_error = CMDID(1, 11), // para:{}, ack:{}
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kmodule_set_inited_flag = CMDID(1, 12), // para:{4}, ack:{}
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kmodule_get_inited_flag = CMDID(1, 13), // para:{}, ack:{4}
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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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kmodule_read_raw = CMDID(1, 19), // para:{4,4}, ack:{4}
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kmodule_enable = CMDID(1, 20), // para:{4}, ack:{}
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kmodule_start = CMDID(1, 21), // para:{4}, ack:{}
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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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kmotor_enable = CMDID(2, 1), // para:{1}, ack:{}
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kmotor_rotate = CMDID(2, 2), // para:{1,4}, ack:{}
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kmotor_move_by = CMDID(2, 3), // para:{4,4}, ack:{}
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kmotor_move_to = CMDID(2, 4), // para:{4,4}, ack:{}
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kmotor_rotate_acctime = CMDID(2, 5), // para:{4,4}, ack:{}
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kmotor_move_by_acctime = CMDID(2, 6), // para:{4,4}, ack:{}
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kmotor_move_to_acctime = CMDID(2, 7), // para:{4,4}, ack:{}
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kmotor_rotate_with_torque = CMDID(2, 8), // para:{4,4}, ack:{}
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kmotor_move_to_zero_forward = CMDID(2, 9), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
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kmotor_move_to_zero_backward = CMDID(2, 10), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
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kmotor_read_pos = CMDID(2, 11), // para:{}, ack:{4}
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kmotor_set_current_pos_by_change_shift = CMDID(2, 12), // para:{4}, ack:{}
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kmotor_motor_move_to_zero_forward_and_calculated_shift = CMDID(2, 13), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
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kmotor_motor_move_to_zero_backward_and_calculated_shift = CMDID(2, 14), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
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kmotor_move_to_torque = CMDID(2, 15), // para:{4,4,4}, ack:{}
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kmotor_calculated_pos_by_move_to_zero = CMDID(2, 16), // para:{}, ack:{}
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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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kxymotor_enable = CMDID(3, 1), // para:{1}, ack:{}
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kxymotor_move_by = CMDID(3, 2), // para:{4,4,4}, ack:{}
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kxymotor_move_to = CMDID(3, 3), // para:{4,4,4}, ack:{}
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kxymotor_move_to_zero = CMDID(3, 4), // para:{}, ack:{}
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kxymotor_move_to_zero_and_calculated_shift = CMDID(3, 5), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
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kxymotor_read_pos = CMDID(3, 6), // para:{}, ack:{4,4}
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kxymotor_calculated_pos_by_move_to_zero = CMDID(3, 7), // para:{}, ack:{}
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#if 0
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#endif
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} cmdid_t;
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} // namespace zcr
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} // namespace iflytop
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