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zcancmder_v2/zmodule_device_script_cmder...

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  1. #include "zmodule_device_script_cmder_paser.hpp"
  3. #include <stdio.h>
  4. #include <stdlib.h>
  5. #include <string.h>
  7. using namespace iflytop;
  8. using namespace std;
  9. #define PROCESS_PACKET_XX(var_funcname, cmdhelp, XP, XACK, ...) \
  10. cancmder->regCMD(#var_funcname, cmdhelp, XP, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { \
  11. ack->ecode = m_deviceManager->var_funcname(__VA_ARGS__); \
  12. ack->acktype = ICmdParserACK::kAckType_int32; \
  13. ack->rawlen = XACK * 4; \
  14. });
  16. #define PROCESS_PACKET_00(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 0)
  17. #define PROCESS_PACKET_01(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 1, ack->getAck(0))
  18. #define PROCESS_PACKET_02(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 2, ack->getAck(0), ack->getAck(1))
  19. #define PROCESS_PACKET_03(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 3, ack->getAck(0), ack->getAck(1), ack->getAck(2))
  21. #define PROCESS_PACKET_10(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 1, 0, atoi(paraV[0]))
  22. #define PROCESS_PACKET_11(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 1, 1, atoi(paraV[0]), ack->getAck(0))
  23. #define PROCESS_PACKET_12(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 1, 2, atoi(paraV[0]), ack->getAck(0), ack->getAck(1))
  24. #define PROCESS_PACKET_13(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 1, 3, atoi(paraV[0]), ack->getAck(0), ack->getAck(1), ack->getAck(2))
  26. #define PROCESS_PACKET_20(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 2, 0, atoi(paraV[0]), atoi(paraV[1]))
  27. #define PROCESS_PACKET_21(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 2, 1, atoi(paraV[0]), atoi(paraV[1]), ack->getAck(0))
  28. #define PROCESS_PACKET_22(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 2, 2, atoi(paraV[0]), atoi(paraV[1]), ack->getAck(0), ack->getAck(1))
  29. #define PROCESS_PACKET_23(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 2, 3, atoi(paraV[0]), atoi(paraV[1]), ack->getAck(0), ack->getAck(1), ack->getAck(2))
  31. #define PROCESS_PACKET_30(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 3, 0, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]))
  32. #define PROCESS_PACKET_31(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 3, 1, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), ack->getAck(0))
  33. #define PROCESS_PACKET_32(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 3, 2, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), ack->getAck(0), ack->getAck(1))
  34. #define PROCESS_PACKET_33(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 3, 3, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), ack->getAck(0), ack->getAck(1), ack->getAck(2))
  36. #define PROCESS_PACKET_40(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 4, 0, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]))
  37. #define PROCESS_PACKET_41(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 4, 1, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), ack->getAck(0))
  38. #define PROCESS_PACKET_42(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 4, 2, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), ack->getAck(0), ack->getAck(1))
  39. #define PROCESS_PACKET_43(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 4, 3, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), ack->getAck(0), ack->getAck(1), ack->getAck(2))
  41. #define PROCESS_PACKET_50(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 5, 0, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), atoi(paraV[4]))
  42. #define PROCESS_PACKET_51(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 5, 1, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), atoi(paraV[4]), ack->getAck(0))
  43. #define PROCESS_PACKET_52(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 5, 2, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), atoi(paraV[4]), ack->getAck(0), ack->getAck(1))
  44. #define PROCESS_PACKET_53(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 5, 3, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), atoi(paraV[4]), ack->getAck(0), ack->getAck(1), ack->getAck(2))
  46. void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager) {
  47. PROCESS_PACKET_10(module_stop, "stop (mid)");
  48. PROCESS_PACKET_10(module_break, "module_break (mid)");
  49. PROCESS_PACKET_11(module_get_last_exec_status, "get_last_exec_status (mid)");
  50. PROCESS_PACKET_11(module_get_status, "get_status (mid)");
  51. PROCESS_PACKET_30(module_set_param, "set_param (mid, param_id, param_value)");
  52. PROCESS_PACKET_21(module_get_param, "get_param (mid, param_id)");
  53. PROCESS_PACKET_11(module_readio, "readio (mid)");
  54. PROCESS_PACKET_20(module_writeio, "writeio (mid, io)");
  55. PROCESS_PACKET_21(module_read_adc, "read_adc (mid,adc_id, adcindex)");
  56. PROCESS_PACKET_11(module_get_error, "get_error (mid)");
  57. PROCESS_PACKET_10(module_clear_error, "clear_error (mid)");
  59. PROCESS_PACKET_20(motor_enable, "motor_enable (mid, enable)");
  60. PROCESS_PACKET_40(motor_rotate, "motor_rotate (mid, direction, motor_velocity, acc)");
  61. PROCESS_PACKET_40(motor_move_by, "motor_move_by (mid, distance, motor_velocity, acc)");
  62. PROCESS_PACKET_40(motor_move_to, "motor_move_to (mid, position, motor_velocity, acc)");
  64. PROCESS_PACKET_40(motor_rotate_acctime, "motor_rotate_acctime (mid, direction, motor_velocity, acctime)");
  65. PROCESS_PACKET_40(motor_move_by_acctime, "motor_move_by_acctime (mid, distance, motor_velocity, acctime)");
  66. PROCESS_PACKET_40(motor_move_to_acctime, "motor_move_to_acctime (mid, position, motor_velocity, acctime)");
  68. PROCESS_PACKET_30(motor_move_to_with_torque, "motor_move_to_with_torque (mid, pos, torque)");
  69. PROCESS_PACKET_50(motor_move_to_zero_forward, "motor_move_to_zero_forward (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
  70. PROCESS_PACKET_50(motor_move_to_zero_backward, "motor_move_to_zero_backward (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
  72. PROCESS_PACKET_20(xymotor_enable, "xymotor_enable (mid, enable)");
  73. PROCESS_PACKET_40(xymotor_move_by, "xymotor_move_by (mid, dx, dy, motor_velocity)");
  74. PROCESS_PACKET_40(xymotor_move_to, "xymotor_move_to (mid, x, y, motor_velocity)");
  75. }