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)
  typedef struct {
    int32_t exec_status;
    int32_t tox;
    int32_t toy;
  } move_to_cb_status_t;

  typedef struct {
    int32_t exec_status;
    int32_t dx;
    int32_t dy;
  } move_by_cb_status_t;

  typedef struct {
    int32_t exec_status;
  } move_to_zero_cb_status_t;

  typedef struct {
    int32_t exec_status;
    int32_t zero_shift_x;
    int32_t zero_shift_y;
  } move_to_zero_with_calibrate_cb_status_t;

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

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

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

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

  typedef struct {
    u8  robot_type;
    u8  x_shaft;
    u8  y_shaft;
    u8  ihold;
    u8  irun;
    u16 iholddelay;
    s32 distance_scale;  // 0.001
    s32 shift_x;
    s32 shift_y;
    s32 acc;
    s32 dec;
    s32 maxspeed;
    s32 min_x;
    s32 max_x;
    s32 min_y;
    s32 max_y;
  } run_param_t;

  typedef struct {
    uint8_t pad;
  } warning_limit_param_t;

  typedef struct {
    u32 move_to_zero_max_d;
    u32 leave_from_zero_max_d;
    u32 speed;
    u32 dec;
  } run_to_zero_param_t;

#pragma pack()

 public:
  virtual int32_t move_to(int32_t x, int32_t y, function<void(move_to_cb_status_t& status)> status_cb)                                         = 0;
  virtual int32_t move_by(int32_t dx, int32_t dy, function<void(move_by_cb_status_t& status)> status_cb)                                       = 0;
  virtual int32_t move_to_zero(function<void(move_to_zero_cb_status_t& status)> status_cb)                                                     = 0;
  virtual int32_t move_to_zero_with_calibrate(int32_t x, int32_t y, function<void(move_to_zero_with_calibrate_cb_status_t& status)> 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_run_param(uint8_t operation, const run_param_t& param, run_param_t& ack)                               = 0;
  virtual int32_t set_run_to_zero_param(uint8_t operation, const run_to_zero_param_t& param, run_to_zero_param_t& ack)       = 0;
  virtual int32_t set_warning_limit_param(uint8_t operation, const warning_limit_param_t& param, warning_limit_param_t& ack) = 0;
};
}  // namespace iflytop