update

components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.cpp

@@ -2,9 +2,9 @@
 
 #include <string.h>
 
-#include "sdk\components\zprotocols\zcancmder\zcancmder_protocol.hpp"
+// #include "sdk\components\zprotocols\zcancmder\zcancmder_protocol.hpp"
 using namespace iflytop;
-#define TAG "StepMotorCtrlScriptCmderModule"
+#define TAG "CMD"
 
 #define CHECK_ARGC(n)            \
   if (argc != (n + 1)) {         \
@@ -50,64 +50,6 @@ void StepMotorCtrlScriptCmderModule::regmodule(int id, I_StepMotorCtrlModule* ro
 void StepMotorCtrlScriptCmderModule::regcmd() {  //
   ZASSERT(m_cmdScheduler != nullptr);
 
-#if 0
-  virtual bool    isbusy()               = 0;
-  virtual int32_t get_last_exec_status() = 0;
-
-  virtual int32_t move_to(int32_t x, action_cb_status_t status_cb)                    = 0;
-  virtual int32_t move_by(int32_t dx, action_cb_status_t status_cb)                   = 0;
-  virtual int32_t move_to(int32_t velocity, int32_t x, action_cb_status_t status_cb)  = 0;
-  virtual int32_t move_by(int32_t velocity, int32_t dx, action_cb_status_t status_cb) = 0;
-
-  virtual int32_t move_to_zero(action_cb_status_t status_cb)                             = 0;
-  virtual int32_t move_to_zero_with_calibrate(int32_t x, action_cb_status_t status_cb)   = 0;
-  virtual int32_t rotate(int32_t speed, int32_t lastforms, action_cb_status_t status_cb) = 0;
-  virtual int32_t enable(bool venable)                                                   = 0;
-  virtual int32_t stop(uint8_t stopType)                                                 = 0;
-  virtual int32_t force_change_current_pos(int32_t x)                                    = 0;
-
-  virtual int32_t move_to_logic_point(int32_t logic_point_num, action_cb_status_t status_cb)     = 0;
-  virtual int32_t set_logic_point(int logic_point_num, int32_t x, int32_t vel, s32 acc, s32 dec) = 0;
-  virtual int32_t get_logic_point(int logic_point_num, logic_point_t& logic_point)               = 0;
-
-  virtual int32_t flush()         = 0;
-  virtual int32_t factory_reset() = 0;
-
-  virtual int32_t move_to_block(int32_t tox, int overtime)                   = 0;
-  virtual int32_t move_by_block(int32_t dx, int overtime)                    = 0;
-  virtual int32_t move_to_block(int32_t velocity, int32_t tox, int overtime) = 0;
-  virtual int32_t move_by_block(int32_t velocity, int32_t dx, int overtime)  = 0;
-  virtual int32_t move_to_zero_block(int overtime)                           = 0;
-  virtual int32_t move_to_zero_with_calibrate_block(int32_t x, int overtime) = 0;
-
-  virtual int32_t read_version(version_t& version)                    = 0;
-  virtual int32_t read_status(status_t& status)                       = 0;
-  virtual int32_t read_detailed_status(detailed_status_t& debug_info) = 0;
-
-  virtual int32_t read_pos(int32_t& pos) = 0;
-  virtual int32_t read_pos()             = 0;
-
-  virtual bool read_zero_io_state() = 0;
-
-  virtual int32_t set_base_param(const base_param_t& param) = 0;
-  virtual int32_t get_base_param(base_param_t& param)       = 0;
-#endif
-
-#if 0
-    m_cmdScheduler->registerCmd("xy_robot_ctrl_enable", [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
-    SCRIPT_CMDER_CHECK(argc == 3);
-
-    int  id     = atoi(argv[1]);
-    bool enable = atoi(argv[2]);
-
-    I_XYRobotCtrlModule* module = findXYRobot(id);
-    SCRIPT_CMDER_CHECK(module != nullptr);
-
-    int32_t ack = module->enable(enable);
-    ZLOGI(TAG, "ack:%d:%s", ack, err::error2str(ack));
-  });
-#endif
-
   m_cmdScheduler->registerCmd("step_motor_ctrl_is_busy", [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     CHECK_ARGC(1);
 
@@ -317,7 +259,18 @@ void StepMotorCtrlScriptCmderModule::regcmd() {  //
     int32_t ack = module->flush();
     ZLOGI(TAG, "flush:%s(%d)", err::error2str(ack), ack);
   });
+  m_cmdScheduler->registerCmd("step_motor_ctrl_enable", [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
+    CHECK_ARGC(2);
+
+    int id = atoi(argv[1]);
+    int enable = atoi(argv[2]);
 
+    I_StepMotorCtrlModule* module = findXYRobot(id);
+    SCRIPT_CMDER_CHECK(module != nullptr);
+
+    int32_t ack = module->enable(enable);
+    ZLOGI(TAG, "flush:%s(%d)", err::error2str(ack), ack);
+  });
   m_cmdScheduler->registerCmd("step_motor_ctrl_factory_reset", [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     CHECK_ARGC(1);
 
@@ -369,6 +322,28 @@ void StepMotorCtrlScriptCmderModule::regcmd() {  //
     ZLOGI(TAG, "status.io_state    :%d,%d,%d,%d,%d,%d,%d,%d", GET_BIT(status.io_state, 0), GET_BIT(status.io_state, 1), GET_BIT(status.io_state, 2), GET_BIT(status.io_state, 3), GET_BIT(status.io_state, 4), GET_BIT(status.io_state, 5), GET_BIT(status.io_state, 6), GET_BIT(status.io_state, 7));
     ZLOGI(TAG, "status.x           :%d", status.x);
   });
+  // virtual int32_t read_detailed_status(detailed_status_t& debug_info) = 0;
+
+  m_cmdScheduler->registerCmd("step_motor_ctrl_read_detailed_status", [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
+        CHECK_ARGC(1);
+
+    int id = atoi(argv[1]);
+
+    I_StepMotorCtrlModule* module = findXYRobot(id);
+    SCRIPT_CMDER_CHECK(module != nullptr);
+
+    I_StepMotorCtrlModule::detailed_status_t status;
+    int32_t                         ack = module->read_detailed_status(status);
+    if (ack != 0) {
+      ZLOGI(TAG, "read status:%s(%d)", err::error2str(ack), ack);
+      return;
+    }
+
+    ZLOGI(TAG, "status.status      :%d", status.status);
+    ZLOGI(TAG, "status.io_state    :%d,%d,%d,%d,%d,%d,%d,%d", GET_BIT(status.io_state, 0), GET_BIT(status.io_state, 1), GET_BIT(status.io_state, 2), GET_BIT(status.io_state, 3), GET_BIT(status.io_state, 4), GET_BIT(status.io_state, 5), GET_BIT(status.io_state, 6), GET_BIT(status.io_state, 7));
+    ZLOGI(TAG, "status.x           :%d", status.x);
+    ZLOGI(TAG, "status.last_exec_status :%d", status.last_exec_status);
+  });
 
   m_cmdScheduler->registerCmd("step_motor_ctrl_set_base_param", [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     CHECK_MIN_ARGC(4);

components/step_motor_ctrl_module/zcan_master_step_motor_ctrl_module.cpp

@@ -72,10 +72,10 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule {
   }
 
   virtual int32_t flush() {  //
-    ZCAN_SEND_CMD_NO_ACK(kcmd_step_motor_ctrl_flush, OVERTIME);
+    ZCAN_SEND_CMD_NO_ACK(kcmd_step_motor_ctrl_flush, 3000);
   }
   virtual int32_t factory_reset() {  //
-    ZCAN_SEND_CMD_NO_ACK(kcmd_step_motor_ctrl_factory_reset, OVERTIME);
+    ZCAN_SEND_CMD_NO_ACK(kcmd_step_motor_ctrl_factory_reset, 3000);
   }
 
   virtual int32_t read_version(version_t& version) {  //
@@ -154,7 +154,7 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule {
   }
 };
 
-I_StepMotorCtrlModule* create_zcan_step_motor_ctrl_module(ZCanCommnaderMaster* cancmder, int id) {
+I_StepMotorCtrlModule* create_zcan_master_step_motor_ctrl_module(ZCanCommnaderMaster* cancmder, int id) {
   StepMotorCtrlModule* module = new StepMotorCtrlModule();
   ZASSERT(module);
   module->initialize(cancmder, id);