update

components/taojingchi_screen/taojingchi_screen_service.cpp

@@ -0,0 +1,130 @@
+
+#include "taojingchi_screen_service.hpp"
+
+#include <stdarg.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "sdk\components\zprotocols\errorcode\errorcode.hpp"
+using namespace iflytop;
+
+#define TAG "CMD"
+
+void TaoJingChiScreenService::tx(const char* data, int len) { m_uart->tx((uint8_t*)data, len); }
+void TaoJingChiScreenService::txcmd(const char* fmt, ...) {
+  va_list args;
+  va_start(args, fmt);
+  int ret = vsnprintf(m_txbuf, sizeof(m_txbuf) - 3, fmt, args);
+  va_end(args);
+  if (ret < 0) return;
+
+  m_txbuf[ret]     = 0xff;
+  m_txbuf[ret + 1] = 0xff;
+  m_txbuf[ret + 2] = 0xff;
+
+  tx(m_txbuf, ret + 3);
+}
+
+void TaoJingChiScreenService::initialize(UART_HandleTypeDef* huart, uint32_t rxbufsize, on_cmdline_cmd_t on_cmdline_cmd, on_taojingchi_screen_rx_t on_taojingchi_screen_rx) {
+  m_rxbufsize = rxbufsize;
+
+  m_uart = new ZUART();
+  ZASSERT(m_uart != NULL);
+
+  ZUART::cfg_t cfg;
+  cfg.huart         = huart;
+  cfg.rxbuffersize  = rxbufsize;
+  cfg.rxovertime_ms = 10;
+  cfg.name          = "TaoJingChiScreenService";
+
+  m_on_cmdline_cmd          = on_cmdline_cmd;
+  m_on_taojingchi_screen_rx = on_taojingchi_screen_rx;
+
+  rxbuf = new char[rxbufsize + 1];
+  ZASSERT(rxbuf != NULL);
+
+  m_uart->initialize(&cfg);
+  ZASSERT(m_uart->startRxIt());
+  m_uart->setrxcb([this](uint8_t* data, size_t len) {
+    if (m_dataisready) {
+      return;
+    }
+    memcpy(rxbuf, data, len);
+    rxbuf[len]    = '\0';
+    m_rxsize      = len;
+    m_dataisready = true;
+    // on data ,in irq context
+  });
+}
+// int32_t getAckInt32Val(int index) {
+// int32_t getAckInt32Num() {
+void TaoJingChiScreenService::prase_cmd(char* input, int inputlen, int32_t& argc, char* argv[]) {
+  for (int i = 0; input[i] == 0 || i < inputlen; i++) {
+    if (input[i] == ' ' || input[i] == '\r' || input[i] == '\n') {
+      input[i] = 0;
+    }
+  }
+
+  int j = 0;
+  for (int i = 0; input[i] == 0 || i < inputlen; i++) {
+    if (input[i] != 0 && j == 0) {
+      argv[argc++] = &input[i];
+      j            = 1;
+      continue;
+    }
+
+    if (input[i] == 0 && j == 1) {
+      j = 0;
+      continue;
+    }
+  }
+}
+void TaoJingChiScreenService::schedule() {
+  if (!m_dataisready) return;
+  char*   cmdstart       = nullptr;
+  int32_t packetlen      = 0;
+  int32_t packetstartoff = 0;
+
+  for (int i = 0; i < m_rxsize - 2;) {
+    if (cmdstart == nullptr) {
+      cmdstart       = &rxbuf[i];
+      packetstartoff = i;
+      i++;
+      continue;
+    }
+
+    /**
+     * @brief 憬쑨넴葵累관棺
+     */
+    if (rxbuf[i] == 0xff && rxbuf[i + 1] == 0xff && rxbuf[i + 2] == 0xff) {
+      packetlen = i - packetstartoff;
+      ZLOGI(TAG, "RX TaoJingChiPacket %d", packetlen);
+      cmdstart       = nullptr;
+      packetstartoff = 0;
+      i += 3;  //
+      continue;
+    }
+    /**
+     * @brief 降唐葵累관棺
+     */
+    else if (rxbuf[i] == 0xff && rxbuf[i + 1] == 0xff && rxbuf[i + 2] == 0xfa) {
+      packetlen = i - packetstartoff;
+      rxbuf[i]  = 0;
+      ZLOGI(TAG, "RX PrivatePacket %s(%d)", cmdstart, packetlen);
+      int32_t argc     = 0;
+      char*   argv[10] = {0};
+      prase_cmd(cmdstart, packetlen, argc, argv);
+
+      if (m_on_cmdline_cmd) {
+        m_on_cmdline_cmd(argv[0], argc - 1, (const char**)&argv[1]);
+      }
+      cmdstart       = nullptr;
+      packetstartoff = 0;
+      i += 3;  //
+      continue;
+    }
+    i++;
+  }
+
+  m_dataisready = false;
+}

components/taojingchi_screen/taojingchi_screen_service.hpp

@@ -0,0 +1,38 @@
+#pragma once
+#include <map>
+#include <string>
+
+#include "sdk/os/zos.hpp"
+#include "sdk\components\zprotocols\errorcode\errorcode.hpp"
+
+namespace iflytop {
+using namespace std;
+
+typedef function<void(const char* cmd, int32_t paramN, const char** paraV)> on_cmdline_cmd_t;
+typedef function<void(uint8_t* data, size_t len)>                           on_taojingchi_screen_rx_t;
+
+class TaoJingChiScreenService {
+ public:
+  ZUART*   m_uart;
+  char*    rxbuf;
+  int32_t  m_rxsize = 0;
+  uint32_t m_rxbufsize;
+  bool     m_dataisready = false;
+  char     cmdcache[100] = {0};
+  char     m_txbuf[1024] = {0};
+
+  on_cmdline_cmd_t          m_on_cmdline_cmd;
+  on_taojingchi_screen_rx_t m_on_taojingchi_screen_rx;
+
+ public:
+  void initialize(UART_HandleTypeDef* huart, uint32_t rxbufsize, on_cmdline_cmd_t on_cmdline_cmd, on_taojingchi_screen_rx_t on_taojingchi_screen_rx);
+  void schedule();
+
+  void txcmd(const char* fmt, ...);
+
+ private:
+  void tx(const char* data, int len);
+  void prase_cmd(char* input, int inputlen, int32_t& argc, char* argv[]);
+};
+
+}  // namespace iflytop

components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp

@@ -0,0 +1,57 @@
+#include "micro_computer_module_device_script_cmder_paser.hpp"
+#include <stdlib.h>
+
+#include "sdk/os/zos.hpp"
+using namespace iflytop;
+using namespace std;
+
+#define TAG "CMD"
+
+void MicroComputerModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager) {
+  ZModuleDeviceScriptCmderPaser::initialize(cancmder, deviceManager);
+  m_cmdParser     = cancmder;
+  m_deviceManager = deviceManager;
+
+  cancmder->regCMD("dumpconfig", "dumpconfig (mid)", 1, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) {  //
+    ack->ecode = 0;
+
+    uint16_t moduleId  = atoi(paraV[0]);
+    int32_t  configval = 0;
+    int32_t  ecode     = 0;
+
+#define DUMP_CONFIG(tag, configid)                                           \
+  ecode = m_deviceManager->module_get_param(moduleId, configid, &configval); \
+  if (ecode != 0) {                                                          \
+    ZLOGI(TAG, "%30s     :%d", tag, configval);                              \
+  }
+
+    DUMP_CONFIG("motor_x_shift", kcfg_motor_x_shift);
+    DUMP_CONFIG("motor_y_shift", kcfg_motor_y_shift);
+    DUMP_CONFIG("motor_z_shift", kcfg_motor_z_shift);
+    DUMP_CONFIG("motor_x_shaft", kcfg_motor_x_shaft);
+    DUMP_CONFIG("motor_y_shaft", kcfg_motor_y_shaft);
+    DUMP_CONFIG("motor_z_shaft", kcfg_motor_z_shaft);
+    DUMP_CONFIG("motor_x_one_circle_pulse", kcfg_motor_x_one_circle_pulse);
+    DUMP_CONFIG("motor_y_one_circle_pulse", kcfg_motor_y_one_circle_pulse);
+    DUMP_CONFIG("motor_z_one_circle_pulse", kcfg_motor_z_one_circle_pulse);
+    DUMP_CONFIG("motor_default_velocity", kcfg_motor_default_velocity);
+    DUMP_CONFIG("motor_default_acc", kcfg_motor_default_acc);
+    DUMP_CONFIG("motor_default_dec", kcfg_motor_default_dec);
+    DUMP_CONFIG("motor_default_break_dec", kcfg_motor_default_break_dec);
+    DUMP_CONFIG("motor_run_to_zero_max_x_d", kcfg_motor_run_to_zero_max_x_d);
+    DUMP_CONFIG("motor_run_to_zero_max_y_d", kcfg_motor_run_to_zero_max_y_d);
+    DUMP_CONFIG("motor_run_to_zero_max_z_d", kcfg_motor_run_to_zero_max_z_d);
+    DUMP_CONFIG("motor_look_zero_edge_max_x_d", kcfg_motor_look_zero_edge_max_x_d);
+    DUMP_CONFIG("motor_look_zero_edge_max_y_d", kcfg_motor_look_zero_edge_max_y_d);
+    DUMP_CONFIG("motor_look_zero_edge_max_z_d", kcfg_motor_look_zero_edge_max_z_d);
+    DUMP_CONFIG("motor_run_to_zero_speed", kcfg_motor_run_to_zero_speed);
+    DUMP_CONFIG("motor_run_to_zero_dec", kcfg_motor_run_to_zero_dec);
+    DUMP_CONFIG("motor_look_zero_edge_speed", kcfg_motor_look_zero_edge_speed);
+    DUMP_CONFIG("motor_look_zero_edge_dec", kcfg_motor_look_zero_edge_dec);
+    DUMP_CONFIG("cfg_stepmotor_ihold", k_cfg_stepmotor_ihold);
+    DUMP_CONFIG("cfg_stepmotor_irun", k_cfg_stepmotor_irun);
+    DUMP_CONFIG("cfg_stepmotor_iholddelay", k_cfg_stepmotor_iholddelay);
+    DUMP_CONFIG("cfg_xyrobot_robot_type", k_cfg_xyrobot_robot_type);
+
+  });
+}

components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.hpp

@@ -0,0 +1,16 @@
+#pragma once
+#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_script_cmder_paser.hpp"
+namespace iflytop {
+using namespace std;
+
+class MicroComputerModuleDeviceScriptCmderPaser : public ZModuleDeviceScriptCmderPaser {
+  ICmdParser*           m_cmdParser = nullptr;
+  ZModuleDeviceManager* m_deviceManager;
+
+ public:
+  void initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager);
+};
+
+}  // namespace iflytop
+
+

components/zprotocols/zcancmder_v2

@@ -1 +1 @@
-Subproject commit 850402ceaf70cdcabc1773af1ef4bc7019cada36
+Subproject commit aef6c931d2a0b215c46c19fb22bb7b1892b36dd9