update

components/cmdscheduler/cmd_scheduler.cpp

@@ -13,16 +13,10 @@ void CmdScheduler::registerCmd(std::string cmd, const char* helpinfo, int npara,
   CMD cmdinfo;
   cmdinfo.call_cmd  = call_cmd;
   cmdinfo.help_info = helpinfo;
-  m_cmdMap[cmd]     = cmdinfo;
   cmdinfo.npara     = npara;
-}
-
-void CmdScheduler::registerCmd(std::string cmd, call_cmd_t call_cmd) {
-  CMD cmdinfo;
-  cmdinfo.call_cmd  = call_cmd;
-  cmdinfo.help_info = "...";
   m_cmdMap[cmd]     = cmdinfo;
 }
+
 void CmdScheduler::regbasiccmd() {
   this->registerCmd("help", "", 0, [this](Context* context) {
     ZLOGI(TAG, "help");
@@ -115,6 +109,7 @@ int32_t CmdScheduler::callcmd(const char* cmd) {
     Context context;
     context.argc = argc;
     context.argv = argv;
+    // ZLOGI(TAG, "callcmd:argc %d %d", argc, cmder->second.npara);
     if (cmder->second.npara != context.argc - 1) return err::kce_cmd_param_num_error;
     int32_t ret = cmder->second.call_cmd(&context);
     if (ret == 0) {

components/cmdscheduler/cmd_scheduler.hpp

@@ -67,7 +67,6 @@ class CmdScheduler {
 
  public:
   void initialize(UART_HandleTypeDef* huart, uint32_t rxbufsize);
-  void registerCmd(std::string cmd, call_cmd_t call_cmd);
   void registerCmd(std::string cmd, const char* helpinfo, int npara, call_cmd_t call_cmd);
   void tx(const char* data, int len);
 

components/eq_20_asb_motor/eq20_servomotor.cpp

@@ -16,13 +16,21 @@ void Eq20ServoMotor::init(ModbusBlockHost *modbusBlockHost, int id) {
   ZASSERT(m_modbusBlockHost != NULL);
 }
 
-#define DO(exptr)                            \
-  {                                          \
-    int32_t __ret = exptr;                   \
-    if (__ret != 0) {                        \
-      ZLOGE(TAG, "do %s %d", #exptr, __ret); \
-      return __ret;                          \
-    }                                        \
+#define DO(exptr)                                  \
+  {                                                \
+    int32_t __ret = exptr;                         \
+    if (__ret != 0) {                              \
+      ZLOGE(TAG, "do %s fail,%d ", #exptr, __ret); \
+      return __ret;                                \
+    }                                              \
+  }
+
+#define DO_NOLOG(exptr)    \
+  {                        \
+    int32_t __ret = exptr; \
+    if (__ret != 0) {      \
+      return __ret;        \
+    }                      \
   }
 
 int32_t Eq20ServoMotor::move_to(int32_t topos, int32_t rpm, int32_t acctime) {
@@ -123,13 +131,14 @@ int32_t Eq20ServoMotor::get_servo_internal_state(servo_internal_status_t &state)
 }
 
 #define AUTO_RESEND(exptr)                          \
-  int ret = 0;                                      \
+  int32_t ret = 0;                                  \
   for (size_t i = 0; i < m_auto_resendtimes; i++) { \
     ret = exptr;                                    \
     if (ret == 0) {                                 \
       return 0;                                     \
     }                                               \
-  }
+  }                                                 \
+  return ret;
 
 int32_t Eq20ServoMotor::writereg(uint32_t regadd, int32_t value) {  //
   AUTO_RESEND(_writereg(regadd, value));
@@ -161,27 +170,25 @@ int32_t Eq20ServoMotor::_read_pn_bit(uint32_t pnadd, int32_t off, int32_t &value
  *                                     REG                                     *
  *******************************************************************************/
 int32_t Eq20ServoMotor::_writereg(uint32_t regadd, int32_t value) {  //
-  DO(m_modbusBlockHost->writeReg10Muti(m_deviceId, regadd, (uint16_t *)&value, 2, 100));
-  return 0;
+  return m_modbusBlockHost->writeReg10Muti(m_deviceId, regadd, (uint16_t *)&value, 2, 100);
 }
 int32_t Eq20ServoMotor::_readreg(uint32_t regadd, int32_t &value) {  //
-  DO(m_modbusBlockHost->readReg03Muti(m_deviceId, regadd, (uint16_t *)&value, 2, 100));
-  return 0;
+  return m_modbusBlockHost->readReg03Muti(m_deviceId, regadd, (uint16_t *)&value, 2, 100);
 }
 int32_t Eq20ServoMotor::_write_reg_bit(uint32_t regadd, int32_t off, int32_t value) {
   int32_t regval;
-  DO(_readreg(regadd, regval));
+  DO_NOLOG(_readreg(regadd, regval));
   if (value) {
     regval |= (1 << off);
   } else {
     regval &= ~(1 << off);
   }
-  DO(_writereg(regadd, regval));
+  DO_NOLOG(_writereg(regadd, regval));
   return 0;
 }
 int32_t Eq20ServoMotor::_read_reg_bit(uint32_t regadd, int32_t off, int32_t &value) {
   int32_t regval;
-  DO(_readreg(regadd, regval));
+  DO_NOLOG(_readreg(regadd, regval));
   value = (regval >> off) & 0x01;
   return 0;
 }

components/hardware/uart/zuart_helper.cpp

@@ -1,6 +1,9 @@
 #include "zuart_helper.hpp"
+
+#include "sdk\components\zprotocols\errorcode\errorcode.hpp"
+
 using namespace iflytop;
-#define DEBUG 0
+#define DEBUG 1
 #if DEBUG
 static void dumphex(char* tag, uint8_t* data, uint8_t len) {
   printf("%s:", tag);
@@ -55,7 +58,7 @@ int32_t ZUARTHelper::tx_and_rx(uint8_t* tx, uint8_t txdatalen, uint8_t* rx, uint
   }
   HAL_UART_DMAStop(m_uart);
   if (overtime_flag) {
-    return false;
+    return err::kce_overtime;
   }
-  return true;
+  return 0;
 }

components/modbus/modbus_block_host.cpp

@@ -6,16 +6,14 @@ using namespace iflytop;
 
 #define TAG "ModbusBlockHost"
 
-#define DO(exptr)                            \
-  {                                          \
-    int32_t __ret = exptr;                   \
-    if (__ret != 0) {                        \
-      ZLOGE(TAG, "do %s %d", #exptr, __ret); \
-      return __ret;                          \
-    }                                        \
+#define DO(exptr)          \
+  {                        \
+    int32_t __ret = exptr; \
+    if (__ret != 0) {      \
+      return __ret;        \
+    }                      \
   }
 
-#define DEBUG 0
 ModbusBlockHost::ModbusBlockHost() {}
 ModbusBlockHost::~ModbusBlockHost() {}