zcancmder_v2/protocol_proxy.hpp

#pragma once
#include <map>

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

namespace iflytop {
class ZIProtocolProxy : public ZIMotor,    //
                        public ZIXYMotor,  //
                        public ZIModule {
 private:
  IZcanCmderMaster *m_cancmder;
  int32_t           m_id = 0;

 public:
  void initialize(IZCanCmder *cancmder, int32_t id);

  virtual int32_t getid(int32_t *id) {
    *id = m_id;
    return 0;
  };

  /*******************************************************************************
   *                                  ZIModule                                   *
   *******************************************************************************/
  virtual int32_t stop();
  virtual int32_t brake();
  virtual int32_t get_last_exec_status(int32_t *status);
  virtual int32_t get_status(int32_t *status);

  virtual int32_t set_param(int32_t param_id, int32_t param_value);
  virtual int32_t get_param(int32_t param_id, int32_t *param_value);

  virtual int32_t readio(int32_t *io);
  virtual int32_t writeio(int32_t io);

  virtual int32_t read_adc(int adcindex, int32_t *adc);

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

  virtual int32_t motor_enable(int32_t enable);
  virtual int32_t motor_rotate(int32_t direction, int32_t velocitylevel);
  virtual int32_t motor_move_by(int32_t distance, int32_t velocitylevel);
  virtual int32_t motor_move_to(int32_t position, int32_t velocitylevel);
  virtual int32_t motor_move_to_with_torque(int32_t pos, int32_t torque);

  /*******************************************************************************
   *                                  ZIXYMotor                                  *
   *******************************************************************************/
  virtual int32_t xymotor_enable(int32_t enable);
  virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t velocitylevel);
  virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t velocitylevel);
};

}  // namespace iflytop