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128 lines
4.4 KiB
128 lines
4.4 KiB
#pragma once
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#include <stdint.h>
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#include <functional>
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#include "basic_type.hpp"
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//
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namespace iflytop {
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using namespace std;
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class I_StepMotorCtrlModule {
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public:
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typedef enum { hbot, corexy } RobotType_t;
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typedef enum { kNormalStop, kBreakStop } StopType_t;
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/*******************************************************************************
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* ACTION *
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*******************************************************************************/
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#pragma pack(1)
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/*******************************************************************************
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* READ *
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*******************************************************************************/
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typedef struct {
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int32_t version;
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} version_t;
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typedef struct {
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uint8_t status;
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uint8_t io_state; // x_zero_io x_end_io
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int32_t x;
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} status_t;
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typedef struct {
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uint8_t status;
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uint8_t io_state; // x_zero_io x_end_io
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int32_t x;
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int32_t last_exec_status;
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} detailed_status_t;
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/*******************************************************************************
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* CFG *
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*******************************************************************************/
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typedef struct {
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s32 x_shaft;
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s32 distance_scale; //
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s32 distance_scale_denominator; //
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s32 ihold;
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s32 irun;
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u16 iholddelay;
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s32 acc;
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s32 dec;
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s32 maxspeed;
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s32 min_x;
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s32 max_x;
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//
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s32 shift_x;
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s32 run_to_zero_max_d;
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s32 run_to_zero_speed;
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s32 run_to_zero_dec;
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s32 look_zero_edge_max_d;
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s32 look_zero_edge_speed;
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s32 look_zero_edge_dec;
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} base_param_t;
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typedef struct {
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u8 index;
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s32 acc;
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s32 dec;
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s32 velocity;
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s32 x;
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} logic_point_t;
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typedef struct {
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base_param_t base_param;
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logic_point_t logic_point[5];
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} flash_config_t;
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#pragma pack()
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public:
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virtual bool isbusy() = 0;
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virtual int32_t get_last_exec_status() = 0;
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virtual int32_t move_to(int32_t x, action_cb_status_t status_cb) = 0;
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virtual int32_t move_by(int32_t dx, action_cb_status_t status_cb) = 0;
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virtual int32_t move_to(int32_t x, int32_t velocity, action_cb_status_t status_cb) = 0;
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virtual int32_t move_by(int32_t dx, int32_t velocity, action_cb_status_t status_cb) = 0;
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virtual int32_t move_to_zero(action_cb_status_t status_cb) = 0;
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virtual int32_t move_to_zero_with_calibrate(int32_t x, action_cb_status_t status_cb) = 0;
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virtual int32_t rotate(int32_t speed, int32_t lastforms, action_cb_status_t status_cb) = 0;
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virtual int32_t enable(bool venable) = 0;
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virtual int32_t stop(uint8_t stopType) = 0;
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virtual int32_t force_change_current_pos(int32_t x) = 0;
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virtual int32_t move_to_logic_point(int32_t logic_point_num, action_cb_status_t status_cb) = 0;
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virtual int32_t set_logic_point(int logic_point_num, int32_t x, int32_t vel, s32 acc, s32 dec) = 0;
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virtual int32_t get_logic_point(int logic_point_num, logic_point_t& logic_point) = 0;
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virtual int32_t flush() = 0;
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virtual int32_t factory_reset() = 0;
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virtual int32_t move_to_block(int32_t tox, int overtime = 0) = 0;
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virtual int32_t move_by_block(int32_t dx, int overtime = 0) = 0;
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virtual int32_t move_to_block(int32_t tox, int32_t velocity, int overtime = 0) = 0;
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virtual int32_t move_by_block(int32_t dx, int32_t velocity, int overtime = 0) = 0;
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virtual int32_t move_to_zero_block(int overtime = 0) = 0;
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virtual int32_t move_to_zero_with_calibrate_block(int32_t x, int overtime = 0) = 0;
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virtual int32_t read_version(version_t& version) = 0;
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virtual int32_t read_status(status_t& status) = 0;
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virtual int32_t read_detailed_status(detailed_status_t& debug_info) = 0;
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virtual int32_t read_pos(int32_t& pos) = 0;
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virtual int32_t read_pos() = 0;
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virtual bool read_zero_io_state() = 0;
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virtual int32_t set_base_param(const base_param_t& param) = 0;
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virtual int32_t get_base_param(base_param_t& param) = 0;
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~I_StepMotorCtrlModule() {}
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};
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} // namespace iflytop
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