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(int32_t moduleId, IZcanCmderMaster *cancmder) {
    m_cancmder = cancmder;
    m_id       = moduleId;
  }

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

  /*******************************************************************************
   *                                  ZIModule                                   *
   *******************************************************************************/
#if 0
#endif
  virtual int32_t module_stop() override;
  virtual int32_t module_break() override;
  virtual int32_t module_start() override;
  virtual int32_t module_get_last_exec_status(int32_t *status) override;
  virtual int32_t module_get_status(int32_t *status) override;

  virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) override;
  virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) override;

  virtual int32_t module_readio(int32_t *io) override;
  virtual int32_t module_writeio(int32_t ioindex, int32_t io) override;

  virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) override;

  virtual int32_t module_get_error(int32_t *iserror) override;
  virtual int32_t module_clear_error() override;

  virtual int32_t module_set_inited_flag(int32_t flag) override;
  virtual int32_t module_get_inited_flag(int32_t *flag) override;

  virtual int32_t module_factory_reset() override;
  virtual int32_t module_flush_cfg() override;
  virtual int32_t module_active_cfg() override;

  virtual int32_t module_read_raw(int32_t startadd, uint8_t *data, int32_t *len) override;
  virtual int32_t module_enable(int32_t enable) override;

/*******************************************************************************
 *                                   ZIMotor                                   *
 *******************************************************************************/
#if 0
  virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
  virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
  virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
  virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }

  virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
  virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
  virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }

  virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
  virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }

  virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
  virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }

  virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
  virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }

  virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
  virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // һ�����ڶ���
  virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }

#endif

  virtual int32_t motor_enable(int32_t enable) override;
  virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override;
  virtual int32_t motor_move_by(int32_t direction, int32_t motor_velocity, int32_t acc) override;
  virtual int32_t motor_move_to(int32_t direction, int32_t motor_velocity, int32_t acc) override;
  virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) override;

  virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) override;
  virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) override;
  virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) override;

  virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
  virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;

  virtual int32_t motor_read_pos(int32_t *pos) override;
  virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) override;

  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;

  virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) override;
  virtual int32_t motor_calculated_pos_by_move_to_zero() override;

/*******************************************************************************
 *                                  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
  virtual int32_t xymotor_enable(int32_t enable) override;
  virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) override;
  virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) override;
  virtual int32_t xymotor_move_to_zero() override;
  virtual int32_t xymotor_move_to_zero_and_calculated_shift() override;
  virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) override;
  virtual int32_t xymotor_calculated_pos_by_move_to_zero() override;
};

}  // namespace iflytop