From 52ceab199527bc01dfdb35b4c3c023a971959717 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 11 Oct 2023 17:45:00 +0800
Subject: [PATCH] update

---
 .../xy_robot_script_cmder_module.cpp               | 102 +++++++++++++--------
 1 file changed, 65 insertions(+), 37 deletions(-)

diff --git a/components/scriptcmder_module/xy_robot_script_cmder_module.cpp b/components/scriptcmder_module/xy_robot_script_cmder_module.cpp
index 8210e3a..66e7aea 100644
--- a/components/scriptcmder_module/xy_robot_script_cmder_module.cpp
+++ b/components/scriptcmder_module/xy_robot_script_cmder_module.cpp
@@ -1,5 +1,7 @@
 #include "xy_robot_script_cmder_module.hpp"
 
+#include <string.h>
+
 #include "sdk\components\zprotocols\zcancmder\zcancmder_protocol.hpp"
 using namespace iflytop;
 #define TAG "XYRobotScriptCmderModule"
@@ -32,6 +34,8 @@ I_XYRobotCtrlModule* XYRobotScriptCmderModule::findXYRobot(int id) {
   return it->second;
 }
 
+static bool streq(const char* a, const char* b) { return strcmp(a, b) == 0; }
+
 void XYRobotScriptCmderModule::regXYRobot(int id, I_XYRobotCtrlModule* robot) {
   ZASSERT(moduler.find(id) == moduler.end());
   ZASSERT(robot != nullptr);
@@ -190,49 +194,73 @@ void XYRobotScriptCmderModule::regcmd() {  //
   });
 
   m_cmdScheduler->registerCmd("xy_robot_ctrl_set_base_param", [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
-    SCRIPT_CMDER_CHECK(argc == 2);
-
-#if 0
-    s32 robot_type;
-    s32 x_shaft;
-    s32 y_shaft;
-    s32 ihold;
-    s32 irun;
-    s32 iholddelay;
-    s32 distance_scale;  // 0.001
-    s32 shift_x;
-    s32 shift_y;
-
-    // limit
-    s32 acc;
-    s32 dec;
-    s32 breakdec;
-    s32 maxspeed;
-    s32 min_x;
-    s32 max_x;
-    s32 min_y;
-    s32 max_y;
-
-    s32 run_to_zero_max_d;
-    s32 leave_from_zero_max_d;
-    s32 run_to_zero_speed;
-    s32 run_to_zero_dec;
-
-    int32_t id = atoi(argv[1]);
+    SCRIPT_CMDER_CHECK(argc == 4);
+    int32_t     id        = atoi(argv[1]);
+    const char* paramName = argv[2];
+    int32_t     paramVal  = atoi(argv[3]);
 
     I_XYRobotCtrlModule* module = findXYRobot(id);
     SCRIPT_CMDER_CHECK(module != nullptr);
 
     I_XYRobotCtrlModule::base_param_t status;
-    int32_t                           ack = module->read_detailed_status(status);
-    ZLOGI(TAG, "ack:%d:%s", ack,err::error2str(ack));
-    if (ack == 0) {
-      ZLOGI(TAG, "  status:%d", status.status);
-      ZLOGI(TAG, "  x:%d", status.x);
-      ZLOGI(TAG, "  y:%d", status.y);
-      ZLOGI(TAG, "  iostate:%d", status.iostate);
+    int32_t                           ack = module->get_base_param(status);
+    if (ack != 0) {
+      ZLOGE(TAG, "get_base_param failed:%d", ack);
+      return;
+    }
+
+    if (streq(paramName, "robot_type")) {
+      status.robot_type = paramVal;
+    } else if (streq(paramName, "x_shaft")) {
+      status.x_shaft = paramVal;
+    } else if (streq(paramName, "y_shaft")) {
+      status.y_shaft = paramVal;
+    } else if (streq(paramName, "ihold")) {
+      status.ihold = paramVal;
+    } else if (streq(paramName, "irun")) {
+      status.irun = paramVal;
+    } else if (streq(paramName, "iholddelay")) {
+      status.iholddelay = paramVal;
+    } else if (streq(paramName, "distance_scale")) {
+      status.distance_scale = paramVal;
+    } else if (streq(paramName, "shift_x")) {
+      status.shift_x = paramVal;
+    } else if (streq(paramName, "shift_y")) {
+      status.shift_y = paramVal;
+    } else if (streq(paramName, "acc")) {
+      status.acc = paramVal;
+    } else if (streq(paramName, "dec")) {
+      status.dec = paramVal;
+    } else if (streq(paramName, "breakdec")) {
+      status.breakdec = paramVal;
+    } else if (streq(paramName, "maxspeed")) {
+      status.maxspeed = paramVal;
+    } else if (streq(paramName, "min_x")) {
+      status.min_x = paramVal;
+    } else if (streq(paramName, "max_x")) {
+      status.max_x = paramVal;
+    } else if (streq(paramName, "min_y")) {
+      status.min_y = paramVal;
+    } else if (streq(paramName, "max_y")) {
+      status.max_y = paramVal;
+    } else if (streq(paramName, "run_to_zero_max_d")) {
+      status.run_to_zero_max_d = paramVal;
+    } else if (streq(paramName, "leave_from_zero_max_d")) {
+      status.leave_from_zero_max_d = paramVal;
+    } else if (streq(paramName, "run_to_zero_speed")) {
+      status.run_to_zero_speed = paramVal;
+    } else if (streq(paramName, "run_to_zero_dec")) {
+      status.run_to_zero_dec = paramVal;
+    } else {
+      ZLOGE(TAG, "invalid param name:%s", paramName);
+      return;
+    }
+    ack = module->set_base_param(status);
+    if (ack != 0) {
+      ZLOGE(TAG, "set_base_param failed:%d,%s", ack, err::error2str(ack));
+      return;
     }
-#endif
+    return;
   });
   m_cmdScheduler->registerCmd("xy_robot_ctrl_get_base_param", [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     SCRIPT_CMDER_CHECK(argc == 2);