From 64f6eb93f3a9e04bd00fdf1c9667937c6538983d Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sun, 12 Nov 2023 18:55:05 +0800
Subject: [PATCH] update

---
 .../mini_servo_motor_ctrl_module.cpp               | 26 ++++++++++++++++------
 .../mini_servo_motor_ctrl_module.hpp               |  8 +++----
 components/zprotocols/zcancmder_v2                 |  2 +-
 3 files changed, 24 insertions(+), 12 deletions(-)

diff --git a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
index 1d38615..f68b8b0 100644
--- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
+++ b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
@@ -272,7 +272,7 @@ int32_t MiniRobotCtrlModule::get_basic_param(basic_param_t &param) {
 }
 
 void MiniRobotCtrlModule::call_status_cb(action_cb_status_t cb, int32_t status) {
-  m_last_exec_status = status;
+  m_com_reg.module_last_cmd_exec_status = status;
   if (cb) cb(status);
 }
 
@@ -293,7 +293,7 @@ int32_t MiniRobotCtrlModule::module_break() {
   return stop(0);
 }
 int32_t MiniRobotCtrlModule::module_get_last_exec_status(int32_t *status) {
-  *status = m_last_exec_status;
+  *status = m_com_reg.module_last_cmd_exec_status;
   return 0;
 }
 int32_t MiniRobotCtrlModule::module_get_status(int32_t *status) {
@@ -305,16 +305,16 @@ int32_t MiniRobotCtrlModule::module_get_error(int32_t *iserror) {
    * @brief TODO:
    *  Ìí¼Ó¹ýÔؼì²â
    */
-  *iserror = m_errorcode;
+  *iserror = m_com_reg.module_errorcode;
   return 0;
 }
 int32_t MiniRobotCtrlModule::module_clear_error() {
-  m_errorcode = 0;
+  m_com_reg.module_errorcode = 0;
   return 0;
 }
 
-int32_t MiniRobotCtrlModule::module_set_reg(int32_t param_id, int32_t param_value) { return err::kmodule_not_find_config_index; }
-int32_t MiniRobotCtrlModule::module_get_reg(int32_t param_id, int32_t *param_value) { return err::kmodule_not_find_config_index; }
+int32_t MiniRobotCtrlModule::module_set_reg(int32_t param_id, int32_t param_value) { return module_xxx_reg(param_id, false, param_value); }
+int32_t MiniRobotCtrlModule::module_get_reg(int32_t param_id, int32_t *param_value) { return module_xxx_reg(param_id, true, *param_value); }
 int32_t MiniRobotCtrlModule::module_readio(int32_t *io) {
   *io = 0;
   return 0;
@@ -323,6 +323,18 @@ int32_t MiniRobotCtrlModule::module_read_adc(int32_t adcindex, int32_t *adc) {
   *adc = 0;
   return 0;
 }
+int32_t MiniRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t &val) {
+  switch (param_id) {
+    MODULE_COMMON_PROCESS_REG_CB();
+    PROCESS_REG(kreg_module_input_state, module_readio(&val), ACTION_NONE);
+    PROCESS_REG(kreg_robot_pos, motor_read_pos(&val), ACTION_NONE);
+    default:
+      return err::kmodule_not_find_config_index;
+      break;
+  }
+  return 0;
+}
+int32_t MiniRobotCtrlModule::do_action(int32_t actioncode) { return 0; }
 
 /*******************************************************************************
  *                                    Motor                                    *
@@ -338,7 +350,7 @@ int32_t MiniRobotCtrlModule::motor_rotate_with_torque(int32_t direction, int32_t
     return move_backward(torque);
   }
 }
-void MiniRobotCtrlModule::set_errorcode(int32_t errorcode) { m_errorcode = errorcode; }
+void MiniRobotCtrlModule::set_errorcode(int32_t errorcode) { m_com_reg.module_errorcode = errorcode; }
 
 int32_t MiniRobotCtrlModule::getdpos(int32_t targetpos) {
   int32_t nowpos = 0;
diff --git a/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp b/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
index 45bb932..2de4d0e 100644
--- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
+++ b/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
@@ -8,16 +8,14 @@
 
 namespace iflytop {
 class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZIMotor {
+  ENABLE_MODULE(StepMotorCtrlModule, kmini_servo_motor_module, 0x0001);
+
   FeiTeServoMotor *m_bus;
   uint8_t          m_id;
   uint16_t         m_module_id;
   ZThread          m_thread;
   s32              m_pos_shift;
 
-  s32 m_last_exec_status = 0;
-
-  int32_t m_errorcode = 0;
-
  public:
   void initialize(uint16_t module_id, FeiTeServoMotor *bus, uint8_t idinbus);
 
@@ -86,5 +84,7 @@ class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZI
   void    call_status_cb(action_cb_status_t cb, int32_t status);
   void    set_errorcode(int32_t errorcode);
   int32_t getdpos(int32_t targetpos);
+  int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val);
+  int32_t do_action(int32_t actioncode);
 };
 }  // namespace iflytop
\ No newline at end of file
diff --git a/components/zprotocols/zcancmder_v2 b/components/zprotocols/zcancmder_v2
index 5abdb1d..9265a6c 160000
--- a/components/zprotocols/zcancmder_v2
+++ b/components/zprotocols/zcancmder_v2
@@ -1 +1 @@
-Subproject commit 5abdb1de50d15b2c6fc811da71cab6654b497e64
+Subproject commit 9265a6c2718afb6ab8c4877a729e73c6d05416ed