From 5d12a50cd4f562a26d3774356541827ebaa1c296 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Thu, 6 Jun 2024 09:31:19 +0800 Subject: [PATCH] update --- components/zcancmder/zcan_protocol_parser.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/components/zcancmder/zcan_protocol_parser.cpp b/components/zcancmder/zcan_protocol_parser.cpp index 25cdf6a..4923af5 100644 --- a/components/zcancmder/zcan_protocol_parser.cpp +++ b/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(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) {