zcancmder/api/i_mini_servo_module.hpp

#pragma once
#include <stdint.h>

#include <functional>

#include "basic_type.hpp"
//

namespace iflytop {
using namespace std;
class I_MiniServoModule {
 public:
  typedef enum { kNormalStop, kBreakStop } StopType_t;
#pragma pack(1)
  typedef struct {
    u8  exec_status;
    s32 has_run_time;
  } rotate_cb_status_t;

  typedef struct {
    u8  exec_status;
    s32 pos;
  } move_to_cb_status_t;

  typedef struct {
    u8  exec_status;
    s32 dpos;
  } move_by_cb_status_t;

  typedef struct {
    u8  exec_status;
    s32 has_run_time;
  } run_with_torque_cb_status_t;

  typedef struct {
    u8  exec_status;
    s32 pos;
  } move_by_nolimit_cb_status_t;

  /*******************************************************************************
   *                                    READ                                     *
   *******************************************************************************/
  typedef struct {
    int32_t version;
  } version_t;

  typedef struct {
    uint8_t status;    // 0:normal 1:������ 2:offline 3:����
    uint8_t io_state;  //
    int16_t torque;    //
    int16_t speed;     //
    int16_t pos;       //
  } status_t;

  typedef struct {
    uint8_t status;
    uint8_t io_state;
    int16_t torque;
    int16_t speed;
    int16_t pos;
    int16_t voltage;
    int16_t current;
    int16_t temperature;
    int16_t error_flag;

  } detailed_status_t;

  /*******************************************************************************
   *                                     CFG                                     *
   *******************************************************************************/

  typedef struct {
    s16 pos_calibrate;
  } basic_param_t;

  typedef struct {
    s16 minlimit;
    s16 maxlimit;
  } run_param_t;

  typedef struct {
    s16 mintemp;
    s16 maxtemp;
    s16 minvoltage;
    s16 maxvoltage;
    s16 mincurrent;
    s16 maxcurrent;
  } warning_limit_param_t;

#pragma pack()

 public:
  virtual int32_t enable(u8 enable)                     = 0;
  virtual int32_t stop(u8 stop_type)                    = 0;
  virtual int32_t position_calibrate(s32 calibrate_pos) = 0;

  virtual int32_t rotate(s32 speed, s32 torque, s32 run_time, function<void(rotate_cb_status_t& status)> status_cb)              = 0;
  virtual int32_t move_to(s32 pos, s32 speed, s32 torque, function<void(move_to_cb_status_t& status)> status_cb)                 = 0;
  virtual int32_t move_by(s32 pos, s32 speed, s32 torque, function<void(move_by_cb_status_t& status)> status_cb)                 = 0;
  virtual int32_t run_with_torque(s32 torque, s32 run_time, function<void(run_with_torque_cb_status_t& status)> status_cb)       = 0;
  virtual int32_t move_by_nolimit(s32 pos, s32 speed, s32 torque, function<void(move_by_nolimit_cb_status_t& status)> status_cb) = 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 set_run_param(run_param_t& param)                     = 0;
  virtual int32_t set_basic_param(basic_param_t& param)                 = 0;
  virtual int32_t set_warning_limit_param(warning_limit_param_t& param) = 0;

  virtual int32_t get_run_param(run_param_t& param)                     = 0;
  virtual int32_t get_basic_param(basic_param_t& param)                 = 0;
  virtual int32_t get_warning_limit_param(warning_limit_param_t& param) = 0;
};
}  // namespace iflytop