zcancmder/api/i_step_motor_ctrl_module.hpp

#pragma once
#include <stdint.h>

#include <functional>

#include "basic_type.hpp"
//

namespace iflytop {
using namespace std;
class I_StepMotorCtrlModule {
 public:
  typedef enum { hbot, corexy } RobotType_t;
  typedef enum { kNormalStop, kBreakStop } StopType_t;

  /*******************************************************************************
   *                                   ACTION                                    *
   *******************************************************************************/
#pragma pack(1)
  /*******************************************************************************
   *                                    READ                                     *
   *******************************************************************************/
  typedef struct {
    int32_t version;
  } version_t;

  typedef struct {
    uint8_t status;
    uint8_t io_state;  // x_zero_io x_end_io
    int32_t x;
  } status_t;

  typedef struct {
    uint8_t status;
    uint8_t io_state;  // x_zero_io x_end_io
    int32_t x;
    int32_t last_exec_status;
  } detailed_status_t;

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

  typedef struct {
    s32 motor_shaft;
    s32 motor_one_circle_pulse;              //
    s32 motor_one_circle_pulse_denominator;  //
    s32 stepmotor_ihold;
    s32 stepmotor_irun;
    s32 stepmotor_iholddelay;

    s32 motor_default_acc;
    s32 motor_default_dec;
    s32 motor_default_velocity;
    s32 min_d;
    s32 max_d;
    //
    s32 motor_shift;

    s32 motor_run_to_zero_max_d;
    s32 motor_run_to_zero_speed;
    s32 motor_run_to_zero_dec;

    s32 motor_look_zero_edge_max_d;
    s32 motor_look_zero_edge_speed;
    s32 motor_look_zero_edge_dec;
  } base_param_t;

  typedef struct {
    u8  index;
    s32 acc;
    s32 dec;
    s32 velocity;
    s32 x;
  } logic_point_t;

  typedef struct {
    bool          configInited;
    base_param_t  base_param;
    logic_point_t logic_point[5];
  } flash_config_t;

#pragma pack()

 public:
  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 x, int32_t velocity, action_cb_status_t status_cb)  = 0;
  virtual int32_t move_by(int32_t dx, int32_t velocity, 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)                   = 0;
  virtual int32_t move_by_block(int32_t dx, int overtime = 0)                    = 0;
  virtual int32_t move_to_block(int32_t tox, int32_t velocity, int overtime = 0) = 0;
  virtual int32_t move_by_block(int32_t dx, int32_t velocity, int overtime = 0)  = 0;
  virtual int32_t move_to_zero_block(int overtime = 0)                           = 0;
  virtual int32_t move_to_zero_with_calibrate_block(int32_t x, int overtime = 0) = 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;

  ~I_StepMotorCtrlModule() {}
};
}  // namespace iflytop