zcancmder/api/i_xyrobot_ctrl_module.hpp

#pragma once
#include <stdint.h>

#include <functional>

#include "basic_type.hpp"
//

namespace iflytop {
using namespace std;
class I_XYRobotCtrlModule {
 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;
    u8      iostate;  // x_zero_io y_zero_io
    int32_t x;
    int32_t y;
  } status_t;

  typedef struct {
    uint8_t status;
    u8      iostate;  // x_zero_io y_zero_io
    int32_t x;
    int32_t y;
  } detailed_status_t;

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

  typedef struct {
    s32 robot_type;
    s32 x_shaft;
    s32 y_shaft;
    s32 ihold;
    s32 irun;
    s32 iholddelay;
    s32 distance_scale;  // 0.001
    s32 shift_x;
    s32 shift_y;

    // limit
    s32 acc;
    s32 dec;
    s32 breakdec;
    s32 maxspeed;
    s32 min_x;
    s32 max_x;
    s32 min_y;
    s32 max_y;

    s32 run_to_zero_max_d;
    s32 run_to_zero_speed;
    s32 run_to_zero_dec;
    s32 look_zero_edge_max_d;
    s32 look_zero_edge_speed;
    s32 look_zero_edge_dec;
  } base_param_t;

  typedef struct {
    uint8_t pad;
  } warning_limit_param_t;

  typedef struct {
    base_param_t basecfg;
  } flash_config_t;

#pragma pack()

 public:
  virtual int32_t move_to(int32_t x, int32_t y, int speed, action_cb_status_t status_cb)                 = 0;
  virtual int32_t move_by(int32_t dx, int32_t dy, int speed, action_cb_status_t status_cb)               = 0;
  virtual int32_t move_by_no_limit(int32_t dx, int32_t dy, int speed, 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 nowx, int32_t nowxy, 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, int32_t y) = 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_base_param(const base_param_t& param) = 0;
  virtual int32_t get_base_param(base_param_t& ack)         = 0;

  virtual int32_t flush()         = 0;
  virtual int32_t factory_reset() = 0;

  virtual ~I_XYRobotCtrlModule() {}
};
}  // namespace iflytop