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a8000_subboard_sdk
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修复指令

master
zhaohe 2 years ago
parent
335439f031
commit
dc5fe41e28
1 changed files with 34 additions and 33 deletions
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  1. 67
      components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.cpp

67
components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.cpp
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@ -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));

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