update

components/cmdscheduler/cmd_scheduler_v2.cpp

@@ -45,7 +45,7 @@ void CmdSchedulerV2::initialize(ZIUartReceiver* receiver) {
   // m_uart->initialize(&cfg);
   m_uart->startRx([this](uint8_t* data, size_t len) {
     if (m_dataisready) return;
-    if(len == 0) return;
+    if (len == 0) return;
     memcpy(rxbuf, data, len);
     rxbuf[len]    = '\0';
     m_rxsize      = len;
@@ -142,7 +142,7 @@ int32_t CmdSchedulerV2::callcmd(const char* cmd, ICmdParserACK* ack) {
    */
   auto cmder = m_cmdMap.find(string(argv[0]));
   if (cmder != m_cmdMap.end()) {
-    if (cmder->second.npara != argc - 1) {
+    if (cmder->second.npara >= 0 && cmder->second.npara != argc - 1) {
       ack->ecode = err::kcmd_param_num_error;
       return err::kcmd_param_num_error;
     }

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -901,7 +901,7 @@ int32_t StepMotorCtrlModule::motor_easy_move_by(int32_t distance) {
   m_status_cb = nullptr;
   m_thread.stop();
   return motor_move_by(distance, m_param.maxspeed, m_param.acc);
-  0;
+
 };
 int32_t StepMotorCtrlModule::motor_easy_move_to(int32_t position) {
   zlock_guard lock(m_lock);
@@ -916,4 +916,4 @@ int32_t StepMotorCtrlModule::motor_easy_move_to_zero(int32_t direction) {
   } else {
     return err::koperation_not_support;
   }
-};
+};

components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp

@@ -353,11 +353,64 @@ void MicroComputerModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder,
   m_cmdParser     = cancmder;
   m_deviceManager = deviceManager;
 
-  cancmder->regCMD("dumpreg", "dumpreg (mid)", 1, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { do_dumpreg(paramN, paraV, ack); });
+  cancmder->regCMD("dumpreg", "(mid)", 1, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { do_dumpreg(paramN, paraV, ack); });
   cancmder->regCMD("scanmodule", "()", 0, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { do_scan_module(paramN, paraV, ack); });
   deviceManager->regOnRegValChangeEvent([this](int32_t moduleid, int32_t event_id, int32_t eventval) {  //
     ZLOGI(TAG, "onRegValChangeEvent(%d,%d,%d)", moduleid, event_id, eventval);
   });
+
+  cancmder->regCMD("app_wait_for_module", "(mid,timeout)", -1, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) {
+    do_wait_for_module(paramN, paraV, ack);
+  });
+}
+
+void MicroComputerModuleDeviceScriptCmderPaser::do_wait_for_module(int32_t paramN, const char* paraV[], ICmdParserACK* ack) {
+  if (paramN < 1) {
+    ack->ecode = err::kcmd_param_num_error;
+    return;
+  }
+  if (paramN > 2) {
+    ack->ecode = err::kcmd_param_num_error;
+    return;
+  }
+
+  int32_t moduleId = atoi(paraV[0]);
+  int32_t timeout  = 0;
+  if (paramN == 2) {
+    timeout = atoi(paraV[1]);
+  }
+  return do_wait_for_module(moduleId, timeout, ack);
+}
+void MicroComputerModuleDeviceScriptCmderPaser::do_wait_for_module(int32_t moduleid, int32_t timeout, ICmdParserACK* ack) {
+  ThisThread thisThread;
+  int32_t    remaining = timeout;
+  int32_t    i         = 0;
+  while (!thisThread.getExitFlag()) {
+    int32_t status = 0;
+    int32_t ecode  = m_deviceManager->module_get_status(moduleid, &status);
+    if (ecode == 0 && status == 0) {
+      ZLOGI(TAG, "wait for module %d ok", moduleid);
+      ack->ecode = 0;
+      return;
+    }
+
+    /**
+     * @brief ³¬Ê±Í˳ö
+     */
+    if (timeout > 0) {
+      remaining -= 30;
+      if (remaining <= 0) {
+        ack->ecode = err::kovertime;
+        return;
+      }
+    }
+    /**
+     * @brief
+     */
+    i++;
+    if (i % 10 == 0) ZLOGI(TAG, "wait for module %d %d", moduleid, status);
+    thisThread.sleep(30);
+  }
 }
 
 void MicroComputerModuleDeviceScriptCmderPaser::do_scan_module(int32_t paramN, const char* paraV[], ICmdParserACK* ack) {

components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.hpp

@@ -17,6 +17,9 @@ class MicroComputerModuleDeviceScriptCmderPaser : public ZModuleDeviceScriptCmde
   void do_dumpstate(int32_t moduleId) {}
 
   void do_scan_module(int32_t paramN, const char* paraV[], ICmdParserACK* ack);
+
+  void do_wait_for_module(int32_t paramN, const char* paraV[], ICmdParserACK* ack);
+  void do_wait_for_module(int32_t moduleid, int32_t timeout, ICmdParserACK* ack);
 };
 
 }  // namespace iflytop