zcancmder_v2/zmodule_device_manager.hpp

#pragma once
#include <map>

#include "api/api.hpp"
#include "api\i_zcan_cmder_master.hpp"
#include "cmdid.hpp"

namespace iflytop {
class ZModuleDeviceManager {
 private:
  map<uint16_t, ZIModule *> m_modulers;
  IZcanCmderMaster         *m_cancmder = nullptr;

 public:
  void initialize(IZcanCmderMaster *m_cancmder);
  void registerModule(ZIModule *module);
  /*******************************************************************************
   *                                  ZIModule                                   *
   *******************************************************************************/


#if 0
    virtual ~ZIModule() {}

  virtual int32_t getid(int32_t *id) = 0;

  virtual int32_t module_stop()                                = 0;
  virtual int32_t module_break()                               = 0;
  virtual int32_t module_get_last_exec_status(int32_t *status) = 0;
  virtual int32_t module_get_status(int32_t *status)           = 0;
  virtual int32_t module_get_error(int32_t *iserror)           = 0;
  virtual int32_t module_clear_error()                         = 0;

  virtual int32_t module_set_param(int32_t param_id, int32_t param_value) { return err::koperation_not_support; }
  virtual int32_t module_get_param(int32_t param_id, int32_t *param_value) { return err::koperation_not_support; }

  virtual int32_t module_readio(int32_t *io) { return err::koperation_not_support; }
  virtual int32_t module_writeio(int32_t io) { return err::koperation_not_support; }

  virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) { return err::koperation_not_support; }

  virtual int32_t module_set_inited_flag(int32_t flag) {
    m_inited_flag = flag;
    return 0;
  }
  virtual int32_t module_get_inited_flag(int32_t *flag) {
    *flag = m_inited_flag;
    return 0;
  }
  // kmodule_factory_reset        = CMDID(1, 14),  // para:{}, ack:{}
  // kmodule_flush_cfg            = CMDID(1, 15),  // para:{}, ack:{}
  // kmodule_active_cfg           = CMDID(1, 16),  // para:{}, ack:{}

  virtual int32_t module_factory_reset() { return err::koperation_not_support; }
  virtual int32_t module_flush_cfg() { return err::koperation_not_support; }
  virtual int32_t module_active_cfg() { return err::koperation_not_support; }

      virtual int32_t module_set_state(int32_t state_id, int32_t state_value) { return err::koperation_not_support; }
  virtual int32_t module_get_state(int32_t state_id, int32_t *state_value) { return err::koperation_not_support; }
#endif
  int32_t module_stop(uint16_t id);
  int32_t module_break(uint16_t id);

  int32_t module_get_last_exec_status(uint16_t id, int32_t *status);
  int32_t module_get_status(uint16_t id, int32_t *status);

  int32_t module_set_param(uint16_t id, int32_t param_id, int32_t param_value);
  int32_t module_get_param(uint16_t id, int32_t param_id, int32_t *param_value);

  int32_t module_readio(uint16_t id, int32_t *io);
  int32_t module_writeio(uint16_t id, int32_t io);

  int32_t module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc);

  int32_t module_get_error(uint16_t id, int32_t *iserror);
  int32_t module_clear_error(uint16_t id);

  int32_t module_set_inited_flag(uint16_t id, int32_t flag);
  int32_t module_get_inited_flag(uint16_t id, int32_t *flag);

  int32_t module_factory_reset(uint16_t id);
  int32_t module_flush_cfg(uint16_t id);
  int32_t module_active_cfg(uint16_t id);

  int32_t module_set_state(uint16_t id, int32_t state_id, int32_t state_value);
  int32_t module_get_state(uint16_t id, int32_t state_id, int32_t *state_value);

  /*******************************************************************************
   *                                   ZIMotor                                   *
   *******************************************************************************/

#if 0
  virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
  virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
#endif

  int32_t motor_enable(uint16_t id, int32_t enable);
  int32_t motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc);
  int32_t motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc);
  int32_t motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc);
  int32_t motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime);
  int32_t motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime);
  int32_t motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime);
  int32_t motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
  int32_t motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
  int32_t motor_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque);
  int32_t motor_read_pos(uint16_t id, int32_t *pos);
  int32_t motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos);
  int32_t motor_move_to_zero_forward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
  int32_t motor_move_to_zero_backward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);

/*******************************************************************************
 *                                  ZIXYMotor                                  *
 *******************************************************************************/
#if 0
  virtual ~ZIXYMotor() {}
  virtual int32_t xymotor_enable(int32_t enable) { return err::koperation_not_support; }
  virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) { return err::koperation_not_support; }
  virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) { return err::koperation_not_support; }
  virtual int32_t xymotor_move_to_zero() { return err::koperation_not_support; }
  virtual int32_t xymotor_move_to_zero_and_calculated_shift() { return err::koperation_not_support; }
  virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) { return err::koperation_not_support; }
  virtual int32_t xymotor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
#endif
  int32_t xymotor_enable(uint16_t id, int32_t enable);
  int32_t xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t motor_velocity);
  int32_t xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t motor_velocity);
  int32_t xymotor_move_to_zero(uint16_t id);
  int32_t xymotor_move_to_zero_and_calculated_shift(uint16_t id);
  int32_t xymotor_read_pos(uint16_t id, int32_t *x, int32_t *y);
  int32_t xymotor_calculated_pos_by_move_to_zero(uint16_t id);


 private:
  template <typename T>
  int32_t findModule(uint16_t id, T **module) {
    auto it = m_modulers.find(id);
    if (it == m_modulers.end()) {
      return err::kmodule_not_found;
    }
    T *_module = dynamic_cast<T *>(it->second);
    if (_module == nullptr) {
      return err::koperation_not_support;
    }
    *module = _module;
    return 0;
  }
};

}  // namespace iflytop