From ce82cd5cc93d90fd4c9eede02bf2b12ae9c1c3dd Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Mon, 3 Jun 2024 13:05:57 +0800
Subject: [PATCH] update

---
 components/step_motor_ctrl_module/step_motor_ctrl_module.cpp | 8 ++++----
 components/step_motor_ctrl_module/step_motor_ctrl_module.hpp | 3 +++
 components/zcancmder/zcan_protocol_parser.cpp                | 9 +++++++++
 components/zcancmder/zcan_protocol_parser.hpp                | 4 ++++
 4 files changed, 20 insertions(+), 4 deletions(-)

diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
index 31ee245..bdf25a0 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -285,20 +285,20 @@ int32_t StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t direc
       vTaskDelay(1);
     }
 
-    // 等待电机停止
+    // 绛夊緟鐢垫満鍋滄
     while (!m_stepM1->isStoped() && !m_thread.getExitFlag()) {
       m_stepM1->stop();
       vTaskDelay(100);
     }
 
-    // 失败返回
+    // 澶辫触杩斿洖
     if (!xreach_io) {
       ZLOGE(TAG, "x reach io failed");
       return err::kxymotor_not_found_x_zero_point;
     }
   }
 
-  // 如果设备已经在零点，则反向移动一定距离远离零点
+  // 濡傛灉璁惧宸茬粡鍦ㄩ浂鐐癸紝鍒欏弽鍚戠Щ鍔ㄤ竴瀹氳窛绂昏繙绂婚浂鐐�
   if (gpio->getState()) {
     ZLOGI(TAG, "---------STEP2--------  find edge");
     _rotate(-direction * lookPointVelocity, lookPointDec, lookPointDec);
@@ -313,7 +313,7 @@ int32_t StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t direc
       vTaskDelay(1);
     }
 
-    while (!m_stepM1->isStoped() && !m_thread.getExitFlag()) {  // 等待电机停止
+    while (!m_stepM1->isStoped() && !m_thread.getExitFlag()) {  // 绛夊緟鐢垫満鍋滄
       m_stepM1->stop();
       vTaskDelay(100);
     }
diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
index ddfe6b5..adf27a6 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
@@ -59,7 +59,10 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
     *id = m_id;
     return 0;
   }
+
   virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val);
+  virtual int32_t module_stop() override { return step_motor_stop(0); }
+  virtual int32_t module_active_cfg() override { return step_motor_active_cfg(); }
   /***********************************************************************************************************************
    *                                                     ZIStepMotor                                                     *
    ***********************************************************************************************************************/
diff --git a/components/zcancmder/zcan_protocol_parser.cpp b/components/zcancmder/zcan_protocol_parser.cpp
index f1e972c..ef5f255 100644
--- a/components/zcancmder/zcan_protocol_parser.cpp
+++ b/components/zcancmder/zcan_protocol_parser.cpp
@@ -156,6 +156,15 @@ int32_t ZCanProtocolParser::module_clear_error(cmdcontxt_t* cxt) {
   return module->module_clear_error();
 }
 
+int32_t ZCanProtocolParser::module_stop(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->module_stop();
+}
+int32_t ZCanProtocolParser::module_active_cfg(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->module_active_cfg();
+}
+
 #undef MODULE_CLASS
 
 /***********************************************************************************************************************
diff --git a/components/zcancmder/zcan_protocol_parser.hpp b/components/zcancmder/zcan_protocol_parser.hpp
index 055a61b..df6ebf9 100644
--- a/components/zcancmder/zcan_protocol_parser.hpp
+++ b/components/zcancmder/zcan_protocol_parser.hpp
@@ -52,6 +52,10 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   static int32_t module_get_reg(cmdcontxt_t* cxt);
   static int32_t module_get_error(cmdcontxt_t* cxt);
   static int32_t module_clear_error(cmdcontxt_t* cxt);
+  static int32_t module_stop(cmdcontxt_t* cxt);
+  static int32_t module_active_cfg(cmdcontxt_t* cxt);
+
+
 
   static int32_t step_motor_enable(cmdcontxt_t* cxt);
   static int32_t step_motor_stop(cmdcontxt_t* cxt);