update

api/i_xyrobot_ctrl_module.hpp

@@ -76,10 +76,10 @@ class I_XYRobotCtrlModule {
 #pragma pack()
 
  public:
-  virtual int32_t move_to(int32_t x, int32_t y, action_cb_status_t status_cb)                     = 0;
-  virtual int32_t move_by(int32_t dx, int32_t dy, 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, int32_t y, action_cb_status_t status_cb) = 0;
+  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, 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;
@@ -91,8 +91,6 @@ class I_XYRobotCtrlModule {
 
   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 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;
 
   virtual ~I_XYRobotCtrlModule() {}
 };

zcancmder_protocol.hpp

@@ -8,6 +8,7 @@
 #include "api/i_xyrobot_ctrl_module.hpp"
 #include "api/i_eeprom.hpp"
 #include "zcancmder_protocol_basic.hpp"
+
 namespace iflytop {
 namespace zcr {
 

zcancmder_protocol_basic.hpp

@@ -30,8 +30,8 @@
     auto* cmd = rxcmd->get_data_as<ordername##_##cmd##_t>();             \
     auto* ack = (ordername##_##ack##_t*)m_txbuf;                         \
     static_assert(sizeof(*ack) < sizeof(m_txbuf), "ack size too large"); \
-    auto   __attribute__((unused))  cmdheader = rxcmd->get_cmdheader();                         \
-    uint32_t errorcode = 0;                                              \
+    auto __attribute__((unused)) cmdheader = rxcmd->get_cmdheader();     \
+    uint32_t errorcode                     = 0;                          \
     if (cmd->id == varid) {                                              \
       ack->id = cmd->id;
 
@@ -80,6 +80,8 @@ typedef enum {
 } PacketType_t;
 
 #define CMDID(cmdid, subcmdid) ((cmdid << 8) + subcmdid)
+#define SUBCMDID(cmdid)        (cmdid & 0xff)
+#define MODULE_CMDID(cmdid)    (cmdid >> 8)
 
 }  // namespace zcr
 }  // namespace iflytop