a8000_subboard/usrc/public_service/gservice.hpp

#include <stddef.h>
#include <stdio.h>

#include "sdk/chip/chip.hpp"
#include "sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp"
#include "sdk/components/zcancmder/zcanreceiver.hpp"
#include "sdk/os/zos.hpp"
#include "sdk\components\zcancmder\protocol_event_bus_sender.hpp"

namespace iflytop {

class GService {
  ZCanReceiver           zcanreceiver;
  ZCanProtocolParser     zcan_protocol_parser;
  ProtocolEventBusSender evenSender;

 public:
  void initialize();

  static GService* inst();

  ZCanReceiver*       getZCanReceiver() { return &zcanreceiver; }
  ZCanProtocolParser* getZCanProtocolParser() { return &zcan_protocol_parser; }

  void registerModule(ZIModule* module) { zcan_protocol_parser.registerModule(module); }
  // dynamic_cast<StepMotorCtrlModule*>(GService::inst()->getZCanProtocolParser()->getModule(getmoduleId(1)))

  template <typename T>
  T* getModule(uint32_t moduleId) {
    return dynamic_cast<T*>(zcan_protocol_parser.getModule(moduleId));
  }
};

}  // namespace iflytop