update

components/pipette_module/pipette_ctrl_module_v2.cpp

@@ -1,5 +1,5 @@
 #include "pipette_ctrl_module_v2.hpp"
-
+#include "sdk\components\zcancmder\protocol_event_bus_sender.hpp"
 using namespace iflytop;
 
 #define TAG "PipetteModule"

components/sensors/smtp2/smtp2.cpp

@@ -435,7 +435,7 @@ int32_t SMTP2::doaction_block(function<int32_t()> action) {
     // int32_t state = getState();
     osDelay(100);
 
-    bool         isbusy;
+    bool         isbusy = false;
     err::error_t error;
 
     int32_t ecode = getState(isbusy, error);

components/zcancmder/protocol_event_bus_sender.cpp

@@ -0,0 +1,66 @@
+#include "protocol_event_bus_sender.hpp"
+namespace iflytop {
+using namespace std;
+
+void ProtocolEventBusSender::initialize(IZCanReceiver* zcanreceiver) {
+  m_zcanreceiver = zcanreceiver;
+  lock_.init();
+}
+
+
+void ProtocolEventBusSender::push_reg_state_change_event(int32_t moduleid, int32_t regindex, int32_t oldval, int32_t toval) {
+  zlock_guard l(lock_);
+
+  zcr_cmd_header_t* cmd_header = (zcr_cmd_header_t*)txbuf;
+  int32_t*          data       = (int32_t*)cmd_header->data;
+  cmd_header->subModuleid = moduleid;
+  cmd_header->cmdMainId   = zcr::kevent_bus_reg_change_report >> 8;
+  cmd_header->subModuleid = zcr::kevent_bus_reg_change_report & 0xff;
+
+  data[0] = regindex;
+  data[1] = oldval;
+  data[2] = toval;
+  m_zcanreceiver->triggerEvent(cmd_header, (uint8_t*)data, 4 * 3);
+}
+
+void ProtocolEventBusSender::report(int32_t moduleid, int32_t cmdindex, int32_t data0) {
+  zlock_guard l(lock_);
+
+  zcr_cmd_header_t* cmd_header = (zcr_cmd_header_t*)txbuf;
+  int32_t*          data       = (int32_t*)cmd_header->data;
+  cmd_header->subModuleid = moduleid;
+  cmd_header->cmdMainId   = cmdindex >> 8;
+  cmd_header->subModuleid = cmdindex & 0xff;
+
+  data[0]       = data0;
+  m_zcanreceiver->triggerEvent(cmd_header, (uint8_t*)data, 4 * 1);
+}
+void ProtocolEventBusSender::report(int32_t moduleid, int32_t cmdindex, int32_t data0, int32_t data1) {
+  zlock_guard l(lock_);
+
+  zcr_cmd_header_t* cmd_header = (zcr_cmd_header_t*)txbuf;
+  int32_t*          data       = (int32_t*)cmd_header->data;
+  cmd_header->subModuleid = moduleid;
+  cmd_header->cmdMainId   = cmdindex >> 8;
+  cmd_header->subModuleid = cmdindex & 0xff;
+
+  data[0]       = data0;
+  data[1]       = data1;
+  m_zcanreceiver->triggerEvent(cmd_header, (uint8_t*)data, 4 * 1);
+}
+void ProtocolEventBusSender::report(int32_t moduleid, int32_t cmdindex, int32_t data0, int32_t data1, int32_t data2) {
+  zlock_guard l(lock_);
+
+  zcr_cmd_header_t* cmd_header = (zcr_cmd_header_t*)txbuf;
+  int32_t*          data       = (int32_t*)cmd_header->data;
+  cmd_header->subModuleid = moduleid;
+  cmd_header->cmdMainId   = cmdindex >> 8;
+  cmd_header->subModuleid = cmdindex & 0xff;
+
+  data[0]       = data0;
+  data[1]       = data1;
+  data[2]       = data2;
+  m_zcanreceiver->triggerEvent(cmd_header, (uint8_t*)data, 4 * 1);
+}
+
+}  // namespace iflytop

components/zcancmder/protocol_event_bus_sender.hpp

@@ -0,0 +1,33 @@
+#pragma once
+
+#include "a8000_protocol\protocol.hpp"
+#include "basic.hpp"
+#include "sdk/os/zos.hpp"
+
+namespace iflytop {
+using namespace std;
+
+class ProtocolEventBusSender {
+  IZCanReceiver* m_zcanreceiver = nullptr;
+  zmutex         lock_;
+
+  uint8_t          txbuf[128];
+
+ public:
+  static ProtocolEventBusSender* inst() {
+    static ProtocolEventBusSender instance;
+    return &instance;
+  }
+
+  void initialize(IZCanReceiver* zcanreceiver);
+
+  void push_reg_state_change_event(int32_t moduleid, int32_t regindex, int32_t oldval, int32_t toval);
+
+  void report(int32_t moduleid, int32_t cmdindex, int32_t data0);
+  void report(int32_t moduleid, int32_t cmdindex, int32_t data0, int32_t data1);
+  void report(int32_t moduleid, int32_t cmdindex, int32_t data0, int32_t data1, int32_t data2);
+
+ private:
+  void _report(int32_t moduleid, int32_t cmdindex, int32_t ndata, int32_t* data);
+};
+}  // namespace iflytop