Merge branch 'master' of 192.168.1.3:manufacturer_stm32/iflytop_stm32_os_sdk

components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.cpp

@@ -99,124 +99,125 @@ void StepMotorCtrlScriptCmderModule::regmodule(int id, I_StepMotorCtrlModule* ro
 }
 void StepMotorCtrlScriptCmderModule::regcmd() {  //
   ZASSERT(m_cmdScheduler != nullptr);
-
+#if 1
   m_cmdScheduler->registerCmd("step_motor_ctrl_is_busy", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
+    DO_CMD(findmodule(con->getInt(1), &module));
     ZLOGI(TAG, "is busy:%d", module->isbusy());
     return (int32_t)0;
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_get_last_exec_status", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
+    DO_CMD(findmodule(con->getInt(1), &module));
     ZLOGI(TAG, "last exec status:%s(%d)", err::error2str(module->get_last_exec_status()), module->get_last_exec_status());
     return (int32_t)0;
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_move_to", "(id,x,speed)", 3, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
-    IMPL_CMD(move_to, con->getInt(1), con->getInt(2),  //
+    DO_CMD(findmodule(con->getInt(1), &module));
+    IMPL_CMD(move_to, con->getInt(2), con->getInt(3),  //
              [this](int32_t status) { ZLOGI(TAG, "move to exec end status:%s(%d)", err::error2str(status), status); });
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_move_by", "(id,dx,speed)", 3, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
-    IMPL_CMD(move_by, con->getInt(1), con->getInt(2),  //
+    DO_CMD(findmodule(con->getInt(1), &module));
+    IMPL_CMD(move_by, con->getInt(2), con->getInt(3),  //
              [this](int32_t status) { ZLOGI(TAG, "move by exec end status:%s(%d)", err::error2str(status), status); });
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_move_to_zero", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
+    DO_CMD(findmodule(con->getInt(1), &module));
     IMPL_CMD(move_to_zero, [this](int32_t status) { ZLOGI(TAG, "move to zero exec end status:%s(%d)", err::error2str(status), status); });
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_move_to_zero_with_calibrate", "(id,x)", 2, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
-    IMPL_CMD(move_to_zero_with_calibrate, con->getInt(1),  //
+    DO_CMD(findmodule(con->getInt(1), &module));
+    IMPL_CMD(move_to_zero_with_calibrate, con->getInt(2),  //
              [this](int32_t status) { ZLOGI(TAG, "move to zero with calibrate exec end status:%s(%d)", err::error2str(status), status); });
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_rotate", "(id,speed,lastforms)", 3, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
-    IMPL_CMD(rotate, con->getInt(1), con->getInt(2),  //
+    DO_CMD(findmodule(con->getInt(1), &module));
+    IMPL_CMD(rotate, con->getInt(2), con->getInt(3),  //
              [this](int32_t status) { ZLOGI(TAG, "rotate exec end status:%s(%d)", err::error2str(status), status); });
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_stop", "(id,stop_type)", 2, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
-    IMPL_CMD(stop, con->getInt(1));
+    DO_CMD(findmodule(con->getInt(1), &module));
+    IMPL_CMD(stop, con->getInt(2));
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_force_change_current_pos", "(id,x)", 2, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
-    IMPL_CMD(force_change_current_pos, con->getInt(1));
+    DO_CMD(findmodule(con->getInt(1), &module));
+    IMPL_CMD(force_change_current_pos, con->getInt(2));
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_move_to_logic_point", "(id,logic_point_id)", 2, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
-    IMPL_CMD(move_to_logic_point, con->getInt(1),  //
+    DO_CMD(findmodule(con->getInt(1), &module));
+    IMPL_CMD(move_to_logic_point, con->getInt(2),  //
              [this](int32_t status) { ZLOGI(TAG, "move to logic point exec end status:%s(%d)", err::error2str(status), status); });
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_set_logic_point", "(id,logic_point_id,x,vel,acc,dec)", 6, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
-    IMPL_CMD(set_logic_point, con->getInt(1), con->getInt(2), con->getInt(3), con->getInt(4), con->getInt(5));
+    DO_CMD(findmodule(con->getInt(1), &module));
+    IMPL_CMD(set_logic_point, con->getInt(2), con->getInt(3), con->getInt(4), con->getInt(5), con->getInt(6));
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_set_logic_point_simplify", "(id,logic_point_id)", 2, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
-    IMPL_CMD(set_logic_point, con->getInt(1), module->read_pos(), 0, 0, 0);
+    DO_CMD(findmodule(con->getInt(1), &module));
+    IMPL_CMD(set_logic_point, con->getInt(2), module->read_pos(), 0, 0, 0);
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_get_logic_point", "(id,logic_point_id)", 2, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
+    DO_CMD(findmodule(con->getInt(1), &module));
     I_StepMotorCtrlModule::logic_point_t ack;
-    IMPL_READ_STATE(get_logic_point, con->getInt(1), ack);
+    IMPL_READ_STATE(get_logic_point, con->getInt(2), ack);
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_get_base_param", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
+    DO_CMD(findmodule(con->getInt(1), &module));
     I_StepMotorCtrlModule::base_param_t ack;
     IMPL_READ_STATE(get_base_param, ack);
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_flush", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
+    DO_CMD(findmodule(con->getInt(1), &module));
     IMPL_CMD(flush);
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_enable", "(id,en)", 2, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
-    IMPL_CMD(enable, con->getBool(1));
+    DO_CMD(findmodule(con->getInt(1), &module));
+    IMPL_CMD(enable, con->getBool(2));
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_factory_reset", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
+    DO_CMD(findmodule(con->getInt(1), &module));
     IMPL_CMD(factory_reset);
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_read_version", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
+    DO_CMD(findmodule(con->getInt(1), &module));
     I_StepMotorCtrlModule::version_t ack;
     IMPL_READ_STATE(read_version, ack);
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_read_status", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
+    DO_CMD(findmodule(con->getInt(1), &module));
     I_StepMotorCtrlModule::status_t ack;
     IMPL_READ_STATE(read_status, ack);
   });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_read_detailed_status", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(0), &module));
+    DO_CMD(findmodule(con->getInt(1), &module));
     I_StepMotorCtrlModule::detailed_status_t ack;
     IMPL_READ_STATE(read_detailed_status, ack);
   });
+#endif
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_set_base_param", "(id,paramName,val)", 3, [this](CmdScheduler::Context* con) {
     const char* paramName = con->getString(2);
     int32_t     value     = con->getInt(3);
 
-    DO_CMD(findmodule(con->getInt(0), &module));
+    DO_CMD(findmodule(con->getInt(1), &module));
 
     I_StepMotorCtrlModule::base_param_t param;
     DO_CMD(module->get_base_param(param));

components/xy_robot_ctrl_module/xy_robot_script_cmder_module.cpp

@@ -63,7 +63,7 @@ static void cmd_dump_ack(I_XYRobotCtrlModule::base_param_t& ack) {
   ZLOGI(TAG, "  run_to_zero_dec       :%d", ack.run_to_zero_dec);
 }
 
-void XYRobotScriptCmderModule::regXYRobot(int id, I_XYRobotCtrlModule* robot) {
+void XYRobotScriptCmderModule::regmodule(int id, I_XYRobotCtrlModule* robot) {
   ZASSERT(moduler.find(id) == moduler.end());
   ZASSERT(robot != nullptr);
   moduler[id] = robot;

components/xy_robot_ctrl_module/xy_robot_script_cmder_module.hpp

@@ -13,7 +13,7 @@ class XYRobotScriptCmderModule {
 
  public:
   void initialize(CmdScheduler* cmdScheduler);
-  void regXYRobot(int id, I_XYRobotCtrlModule* robot);
+  void regmodule(int id, I_XYRobotCtrlModule* robot);
   void regcmd();
 
  private: