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update

master
zhaohe 1 year ago
parent
commit
5d12a50cd4
  1. 6
      components/zcancmder/zcan_protocol_parser.cpp

6
components/zcancmder/zcan_protocol_parser.cpp

@ -147,6 +147,10 @@ void ZCanProtocolParser::_onRceivePacket(ZIModule* module, zcr_cmd_header_t* rxc
if (module == nullptr) return err::koperation_not_support; \
if (paraNum >= 0 && paraNum != cxt->paramlen / 4) return err::kcmd_param_num_error;
#define GET_MODULE(paraNum) \
auto* module = dynamic_cast<MODULE_CLASS*>(cxt->module); \
if (module == nullptr) return err::koperation_not_support;
#define MODULE_CLASS ZIModule
int32_t ZCanProtocolParser::module_ping(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
@ -225,7 +229,7 @@ int32_t ZCanProtocolParser::step_motor_easy_move_to(cmdcontxt_t* cxt) {
return module->step_motor_easy_move_to(cxt->params[0]);
}
int32_t ZCanProtocolParser::step_motor_easy_move_to_zero(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
GET_MODULE(0);
return module->step_motor_easy_move_to_zero();
}
int32_t ZCanProtocolParser::step_motor_easy_set_current_pos(cmdcontxt_t* cxt) {

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