recode

api/temp_i_mini_servo_module.hpp

@@ -0,0 +1,84 @@
+#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)
+
+  /*******************************************************************************
+   *                                    READ                                     *
+   *******************************************************************************/
+  typedef struct {
+    int32_t version;
+  } version_t;
+
+  typedef struct {
+    uint8_t status;   // 0:normal 1:运行中 2:offline 3:故障
+    uint8_t ioState;  //
+    int16_t torque;   //
+    int16_t speed;    //
+    int16_t pos;      //
+  } status_t;
+
+  typedef struct {
+    uint8_t status;
+    uint8_t ioState;
+    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 {
+    u16 posCalibrate;
+    u16 minlimit;
+    u16 maxlimit;
+    u16 maxtemp;
+    u16 minvoltage;
+    u16 maxvoltage;
+    u16 protectCurrent;
+    u16 protectTorque;
+  } basic_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, action_cb_status_t status_cb)     = 0;
+  // virtual int32_t move_to(s32 pos, s32 speed, s32 torque, action_cb_status_t status_cb)         = 0;
+  // virtual int32_t move_by(s32 pos, s32 speed, s32 torque, action_cb_status_t status_cb)         = 0;
+  // virtual int32_t run_with_torque(s32 torque, s32 run_time, action_cb_status_t status_cb)       = 0;
+  // virtual int32_t move_by_nolimit(s32 pos, s32 speed, s32 torque, action_cb_status_t status_cb) = 0;
+
+  // virtual int32_t move_forward(s32 torque)  = 0;
+  // virtual int32_t move_backward(s32 torque) = 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_basic_param(basic_param_t& param) = 0;
+
+  // virtual int32_t get_basic_param(basic_param_t& param) = 0;
+
+  virtual ~I_MiniServoModule() {}
+};
+}  // namespace iflytop