update

components/cmdscheduler/cmd_scheduler_v2.cpp

@@ -102,7 +102,7 @@ void CmdSchedulerV2::dumpack(ICmdParserACK* ack) {
       printf("\n");
     } else if (ack->acktype == ack->kAckType_int32) {
       for (int i = 0; i < ack->getAckInt32Num(); i++) {
-        printf(" %d", ack->getAckInt32Val(i));
+        printf(" %d", (int)ack->getAckInt32Val(i));
       }
       printf("\n");
     } else if (ack->acktype == ack->kAckType_buf) {
@@ -114,7 +114,7 @@ void CmdSchedulerV2::dumpack(ICmdParserACK* ack) {
       printf("\n");
     }
   } else {
-    printf("\tfailed:%s(%d)\n", err::error2str(ack->ecode), ack->ecode);
+    printf("\tfailed:%s(%d)\n", err::error2str(ack->ecode),(int) ack->ecode);
   }
 }
 
@@ -166,7 +166,7 @@ void CmdSchedulerV2::remove_note(char* input, int inputlen) {
   }
 }
 
-void CmdSchedulerV2::prase_cmd(char* input, int inputlen, int& argc, char* argv[]) {
+void CmdSchedulerV2::prase_cmd(char* input, int inputlen, int32_t& argc, char* argv[]) {
   for (int i = 0; input[i] == 0 || i < inputlen; i++) {
     if (input[i] == ' ' || input[i] == '\r' || input[i] == '\n') {
       input[i] = 0;

components/cmdscheduler/cmd_scheduler_v2.hpp

@@ -32,48 +32,18 @@ class CmdSchedulerV2 : public ICmdParser {
   char cmdcache[1024] = {0};
 
  public:
-  void initialize(UART_HandleTypeDef* huart, uint32_t rxbufsize);
-  void registerCmd(const char* cmdname, const char* helpinfo, int paraNum, ICmdFunction_t cmdimpl);
+  void         initialize(UART_HandleTypeDef* huart, uint32_t rxbufsize);
+  virtual void regCMD(const char* cmdname, const char* helpinfo, int paraNum, ICmdFunction_t cmdimpl) override { registerCmd(cmdname, helpinfo, paraNum, cmdimpl); }
+  void         registerCmd(const char* cmdname, const char* helpinfo, int paraNum, ICmdFunction_t cmdimpl);
   // void tx(const char* data, int len);
   void schedule();
 
  private:
   void    regbasiccmd();
   int32_t callcmd(const char* cmd, ICmdParserACK* ack);
-  void    prase_cmd(char* input, int inputlen, int& argc, char* argv[]);
+  void    prase_cmd(char* input, int inputlen, int32_t& argc, char* argv[]);
   void    remove_note(char* input, int inputlen);
   void    dumpack(ICmdParserACK* ack);
 };
-#if 0
-
-#define DO_CMD(cond)    \
-  {                     \
-    int32_t ret = cond; \
-    if (ret != 0) {     \
-      return ret;       \
-    }                   \
-  }
-#define IMPL_CMD(cmd, ...)                     \
-  DO_CMD(findmodule(con->getInt(1), &module)); \
-  DO_CMD(module->cmd(__VA_ARGS__));            \
-  return (int32_t)0;
-
-#define IMPL_READ_STATE(cmd, ...)              \
-  DO_CMD(findmodule(con->getInt(1), &module)); \
-  DO_CMD(module->cmd(__VA_ARGS__));            \
-  cmd_dump_ack(ack);                           \
-  return (int32_t)0;
-
-#define REG_CMD___NO_ACK(prefix, cmd, para, npara, ...)                                                                    /**/ \
-  m_cmdScheduler->registerCmd(prefix #cmd, para, npara, [this](CmdSchedulerV2::Context* con) {                             /**/ \
-                                                                                               IMPL_CMD(cmd, __VA_ARGS__); /**/ \
-  });
-
-#define REG_CMD_WITH_ACK(prefix, cmd, para, npara, acktype, ...)                                                                  /**/ \
-  m_cmdScheduler->registerCmd(prefix #cmd, para, npara, [this](CmdSchedulerV2::Context* con) {                                    /**/ \
-                                                                                               acktype ack;                       /**/ \
-                                                                                               IMPL_READ_STATE(cmd, __VA_ARGS__); /**/ \
-  });
-#endif
 
 }  // namespace iflytop

components/eq_20_asb_motor/eq20_servomotor.cpp

@@ -9,7 +9,7 @@ using namespace iflytop;
 
 #define TAG "Eq20ServoMotor"
 
-void Eq20ServoMotor::init(ModbusBlockHost *modbusBlockHost, int moduleid, int motorid) {
+void Eq20ServoMotor::init(int moduleid, ModbusBlockHost *modbusBlockHost, int motorid ) {
   //  this->com = com;
   m_modbusBlockHost = modbusBlockHost;
   m_deviceId        = motorid;

components/eq_20_asb_motor/eq20_servomotor.hpp

@@ -72,7 +72,7 @@ class Eq20ServoMotor : public ZIModule, public ZIMotor {
   Eq20ServoMotor(/* args */){};
   ~Eq20ServoMotor(){};
 
-  void init(ModbusBlockHost *modbusBlockHost, int moduleid, int motorid = 1);
+  void init(int moduleid, ModbusBlockHost *modbusBlockHost, int motorid);
 
   int32_t enable(int32_t enable);
 

components/zcancmder/basic.cpp

@@ -24,7 +24,6 @@ uint8_t *CanPacketRxBuffer::get_data() {
   return cmdheader->data;
 }
 uint16_t CanPacketRxBuffer::get_datalen() {
-  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
   return rxdataSize - sizeof(zcr_cmd_header_t);
 }
 bool CanPacketRxBuffer::iscmd(int32_t id) {